Math Cookbook

Wiki Home ▸ Math Cookbook

Camera Conventions

The MVE camera conventions use common textbook notation, e.g. from the book "Multiple View Geometry in Computer Vision" from Hartley and Zisserman. The projection of a 3D point X in space on the image plane works as follows:

x = K * (R * X + t)

where K is the calibration matrix, R is the world to camera rotation matrix, and t is the camera translation vector. R and t are referred to as extrinsic camera parameters. The calibration matrix is assembled from quantities referred to as intrinsic camera parameters.

Intrinsic Parameters

The calibration matrix is composed of