## 445_camera

World Coordinates and Image coordinates Pinhole Camera Model $$ x = K \left[ \begin{array}{ll} R & t \end{array} \right] x $$ x: Image Coordinates: $(u, v, 1)$ K: Intrinsic Matrix $(3 \times 3)$ R: Rotation $(3 \times 3)$ t: Translation $(3 \times 1)$ X: World Coordinates: $(X, Y, Z, 1)$ Basically, from the right side to the leftside, it is transforming a point (1) from the world coordinates to camera coordinates, and then project the point (2) from camera coordinates down to the image plane....