Camera model) Intrinsic parameters I extrinsic parameters I projection Step1 Motion of camera (Rcam Tcam)Camera Coordinates result→XCYC,ZC Positive rotation angle about an axis: The thumb is pointing to the axis direction, a positive Camera coordinates rotation angle is the same direction as the other fingers (R) Thumb cam pointing and t cam Axis C direction Yw eh Right hand coordinates world coordinates) W Ch2 CameCamera model | Intrinsic parameters | extrinsic parameters | projection Step1 Motion of camera (Rcam,Tcam) Camera Coordinates result → Xc,Yc,Zc Yc Zc Xc Xw Zw Yw Rcam=(Rc) -1 , and Tcam=Tc Right-hand coordinates (world coordinates) Positive rotation angle about an axis: The thumb is pointing to the axis direction, a positive rotation angle is the same direction as the other fingers. Thumb pointing Axis direction y x Camera coordinates z Ch2. Cameras v.0.b2 8