Pinhole Camera Model
Table of contents
The pinhole camera model relates 3D points in the world to 2D pixel coordinates through perspective projection.
Projection
A 3D point in the camera frame is mapped to the image plane by:
[ u = f_x \frac{X}{Z} + c_x, \quad v = f_y \frac{Y}{Z} + c_y ]
where ((f_x, f_y)) are focal lengths and ((c_x, c_y)) is the principal point.
Why it matters in manipulation
- Foundation for camera calibration
- Used in pose estimation and visual servoing
- Links geometry of the scene to image measurements