Camera model) Intrinsic parameters I extrinsic parameters I projection The most important concept for a camera is the Image formation process 3D Object points Xw YwZw world coordinates Step1 Motion of camera(Rcam=R, Tcam) Camera Coordinates result→Xc,YcZ Step2 Projection of camera(F Result> image(x,y) Ch2. Cameras v0.b2Camera model | Intrinsic parameters | extrinsic parameters | projection The most important concept for a camera is the image formation process • 3D Object points (Xw,Yw,Zw): world coordinates Step2: Projection of camera (F) Result → image (x,y) Step1: Motion of camera (Rcam=Rc -1 ,Tcam) Camera Coordinates result → Xc ,Yc ,Zc Ch2. Cameras v.0.b2 7