The calibration matrix is an entity that allows us to transform pixel coordinates into world coordinates. By doing so, we can more easily relate image points to the 3D points that have produced them. This is demonstrated in the following diagram, which we will now use to demonstrate the relationship between a world point and its images:
The preceding diagram shows two cameras separated by a rotation of R and a translation of T. It is interesting to note that the translation vector, T, joins the centers of the projection of the two cameras. We also have a vector of x joining the first camera center to an image point and a vector ...
