World to camera trafo

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Parent: SLAM Index See also: [Pinhole camera model](pinhole camera model.md), pinhole camera-projection-function Source: http://www.cse.psu.edu/~rtc12/CSE486/lecture12.pdf

Camera coordinates (X, Y, Z)World coordinates (U, V, W)Image plane (x, y) / Pixel coordinates (u, v)
unknown_filename.1.pngunknown_filename.pngunknown_filename.2.pngunknown_filename.3.png

Forward projection

unknown_filename.4.png

Representing 2D point as a fictitious 3D point (x', y', z') [for matrix calculations] Convention: Given (x', y', z'), we can recover the 2D point (x, y) as unknown_filename.5.png

World to camera trafo

  • Translation of -C as seen in W-CS
  • Apply rotation Rcw to get P in camera coordinates pc = Rcw (pw - cw)

unknown_filename.6.png unknown_filename.7.png