1. GEOMETRIC CAMERA MODELS
Elements of Euclidean Geometry
The Intrinsic Parameters of a Camera
The Extrinsic Parameters of a Camera
The General Form of the Perspective Projection Equation
Reading: Chapter 2.

2. Quantitative Measurements and Calibration
Euclidean Geometry

3. Euclidean Coordinate Systems

4. Planes

5. OBP = OBOA + OAP , BP = AP + BOA
Coordinate Changes: Pure Translations
OBP = OBOA + OAP , BP = AP + BOA

6. Coordinate Changes: Pure Rotations

7. Coordinate Changes: Rotations about the z Axis

8. A rotation matrix is characterized by the following properties:
Its inverse is equal to its transpose, and
its determinant is equal to 1.
Or equivalently:
Its rows (or columns) form a right-handed
orthonormal coordinate system.

9. Coordinate Changes: Pure Rotations

10. Coordinate Changes: Rigid Transformations

11. Rigid Transformations as Mappings

13. The Intrinsic Parameters of a Camera
Units:
k,l : pixel/m
f : m
a,b
: pixel
Physical Image Coordinates
Normalized Image
Coordinates

14. The Intrinsic Parameters of a Camera
Calibration Matrix
The Perspective
Projection Equation

15. Extrinsic Parameters