3.4. Modeling Cameras
This chapter deals with the task of building a mathematical model of a camera. We give a mathematical model of the standard pinhole camera and define intrinsic and extrinsic parameters. For more detailed treatment, see [24, 15], and for a different approach see [26].
3.4.1. The pinhole camera
The simplest optical system used for modeling cameras is the pinhole camera. The camera is modeled as a box with a small hole in one of the sides and a photographic plate at the opposite side; see Figure 3.6. Introduce a coordinate system as in Figure 3.6. Observe that the origin of the coordinate system is located at the center of projection, the focal point, and that the z-axis coincides with the optical axis. The distance from the ...
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