Geometric Camera Models 1.1 Image Formation1.1.1 Pinhole Perspective1.1.2 Weak Perspective1.1.3 Cameras with Lenses1.1.4 The Human Eye 1.2 Intrinsic and Extrinsic Parameters1.2.1 Rigid Transformations and Homogeneous Coordinates1.2.2 Intrinsic Parameters1.2.3 Extrinsic Parameters1.2.4 Perspective Projection Matrices1.2.5 Weak-Perspective Projection Matrices 1.3 Geometric Camera Calibration 1.1 Image Formation 1.1.1 Pinhole Perspective 1.1.2 Weak Perspective 1.1.3 Cameras with Lenses 1.1.4 The Human Eye 1.2 Intrinsic and Extrinsic Parameters 1.2.1 Rigid Transformations and Homogeneous Coordinates 1.2.2 Intrinsic Parameters 1.2.3 Extrinsic Parameters 1.2.4 Perspective Projection Matrices 1.2.5 Weak-Perspective Projection Matrices 1.3 Geometric Camera Calibration