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(from Lecture on Calibration) • Between the world coordinates X=(Xs, Xs, Xs, 1) of a scene point and the coordinates x=(u’,v’,w’) of its projection, we have the following linear xpix transformation: with y pix u' = v' w' w' x = P X • P is a 3x4 matrix that completely represents the mapping from the scene to the image and is therefore called a “camera”.Central Projection x y If world and image points are represented by homogeneous vectors, central projection is a linear transformation: i

Year: 2010
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