Camera Projection (相机投影)

1. 基本概念

2. 投影

   So how do we represent this as a matrix equation?
   We need to introduce homogeneous coordinates(齐次坐标).

2.1 透视投影

2.2 世界->摄像机坐标变换

2.3 计算旋转矩阵简单方法

2.4 摄像机外部参数(R，T)

2.5 摄像机内部参数

仿射变换=线性变换+平移

“affine” transformation: it is  a type of 2D to 2D mapping defined by 6 parameters.

2.6 投影总结