Table of Contents 1. Pinhole camera model 2. Intrinsic matrix 2.1. Setup 2.2. Homogeneous coordinates 2.3. Accounting for distortions 2.3.1. Digital images 2.3.2. Rephotographing Images 3. Extrinsic matrix 4. Homography matrix 5. References 1. Pinhole camera model When we capture something on camera, there is an interesting phenomenon going on: compression. We are taking a photograph of a 3D world, and capturing it in a 2D image. This 3D→2D space mapping inevitably leads to information loss....