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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