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  • 1 Camera Geometry

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  • What is camera geometry about?

    Considers the shape when we project our 3D world onto a 2D image.
  • What is the focal point in the pinhole model?

    The point in the pinhole camera where the light passes through.
  • How does the focal length in the pinhole model describe?

    It is the distance of the image plane to the focal point.
  • What are the drawbacks of a pinhole camera model and how do modern digital camera's counter that?

    It doesn't let much light through, so it requires a long exposure time. And it can't zoom.
    Digital camera's use lenses to obtain larger area for light to pass through, so it requires a lower exposure time. And additionally can zoom.
  • What is the orthographic projection?

    Simply drop one dimension, the depth to be precise
  • How does the orthographic projection differ from the perspective projection?

    Depth doesn't affect the projection.
  • What is the camera matrix of a camera model?

    The matrix to apply to transform a 3D world coordinate into a 2D image plane coordinate.
  • Of what two parts do we deconstruct the camera matrix of a camera model?

    The extrinsinc parameters and the intrinsic parameters.
  • What do the extrinsic parameters of a camera matrix consist of?

    Rotation and translation to convert a point in 3D world coordinates into 3D camera coordinates.
  • How to extract extrinsic parameters for the camera matrix with knowledge of 3D camera position in relation to origin of the world coordinate system?

    • Rotate in such that world origin is oriented like camera
    • Translate in such that world origin is located at camera

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