Image plane
Image plane
Centre of
projection
f
(a) Perspective
(b) Affine
Figure 10.6 Perspective and affine camera models
10.4.1 Affine camera model
In the affine camera model, Equation 10.21 is changed to
x
i
y
i
1
=
p
11
p
12
p
13
p
14
p
21
p
22
p
23
p
24
0001
x
p
y
p
z
p
1
(10.38)
This equation can be written in short form as
x
i
=P
A
x
p
(10.39)
Here, we use the subindex A to indicate that the affine camera transformation is given by a
special