| The camera matrix |
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| • | Homogenous coordinates for 3D |
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| – | four
coordinates for 3D point |
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| – | equivalence
relation (X,Y,Z,T) is the same as (k X, k Y, k Z,k T) |
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| • | Turn previous expression into HC’s |
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| – | HC’s
for 3D point are (X,Y,Z,T) |
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| – | HC’s
for point in image are (U,V,W) |
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