point, in camera frame
random point
(x
P
C
, y
P
C
, z
P
C
) = (
0
,
0
,
0
)
six physical parameters
f
4.00
mm
s
x
8.00
px/mm
u
2.50
mm
s
θ
0.00
px/mm
s
y
5.00
px/mm
v
2.00
mm
the unit of the image plane
λ
1.00
rescales all six at once: f, u, v ×λ; s
x
, s
y
, s
θ
÷λ
sensor
N
x
× N
y
= 40 × 20 px
reset all
the sensor, \(N_x \times N_y\) pixels — the blue outline is the physical image plane, \(W \times H\) mm, seen in pixel coordinates
\(\v{K} =\)
0
0
0
0
0
0
0
0
1
\(\v{r}_p^I =\)
(
0
,
0
) mm
→
\((x_p^S, y_p^S) =\)
(
0
,
0
)
→
pixel [
0
,
0
]