Camera model (1): Basic
1. Pinhole camera model
1. The optical center is equivalent to a small hole imaging small hole;
2. Project point P to P 'on the image;
Second, several coordinate systems
World coordinate system
Absolute coordinate system (real world position) depicting the objective world
Camera coordinate system
Describe the three-dimensional coordinate system imaged by the camera, and the optical center of the camera is the origin of the camera coordinate system
Image coordinate system
Describes the imaging plane of the camera, the origin of the coordinates is the projection of the camera's optical center in the image coordinate system
Pixel coordinate system
The pixel coordinate system describes a planar two-dimensional coordinate system in pixels. The origin of the coordinate system is at the upper left corner of the image (camera image)
w: world coordinate system
c: camera coordinate system
xy: image coordinate system
uv: pixel coordinate system
