Basic 3D Geometry for One and Two Cameras
نویسنده
چکیده
where c is the column and r is the row. (This is a Point Grey convention, and it assumes the camera center is exactly in the center column and row of the image. In fact, proper camera calibration can be done to get a better estimate of the center.) The (X,Y,Z) coordinate system is shown in Fig. 1, and the (u, v) system in Fig. 2: Z points along line of sight, away from camera; X (and also u) points from left to right as you face the image plane (your eyes are pointing in the Z direction); similarly, Y (and also v) points from top to down as you face the image plane. (0, 0, 0) is the camera center (the pinhole in a pinhole camera). The projection equations are:
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