In order to explain the results of the calibration, we need to go back to the projective equation presented in the introduction to this chapter. This equation describes the transformation of a 3D point into a 2D point through the successive application of two matrices. The first matrix includes all of the camera parameters, which are called the intrinsic parameters of the camera. The 3 x 3 matrix is one of the output matrices returned by the cv::calibrateCamera function. There is also a function called cv::calibrationMatrixValues that explicitly returns the value of the intrinsic parameters given by a calibration matrix.
The second matrix is there to express the input points as camera-centric coordinates. It is composed of ...
