| Description:The CAHV model is a linear, perspective-projection camera model (equivalent to a pinhole camera). It consists of four 3-vectors (C,A,H,V) that describe the internal and external camera model parameters needed to translate between 2D image coordinates and 3D world coordinates. C (Vector_Center) is the 3D position of the pinhole (center of the entrance pupil). A (Vector_Axis) is a unit vector normal to the image plane pointing outward. H (Vector_Horizontal) is a composite vector encoding three quantities: H' (a vector in the image plane perpendicular to the vertical columns), Hs (the distance between the lens center and image plane, measured in horizontal pixels), and Hc (the horizontal image coordinate directly under C when moving parallel to A). V (Vector_Vertical) similarly composites the analogous V', Vs, and Vc in the vertical direction. |