Camera Calibration Theory

Single Camera Model

We assume the camera adheres to the “pin-hole” model, where points in space project as straight lines to the camera aperture (the origin of the “scene” coordinate system) and intersect through an image plane at “image points”. This image plane is supposed to represent the ideal physical location of the image sensor, and contains a 2D projection of 3D scene points.

The diagram below describes the model:

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