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. 2013 Aug 20;13(8):11007–11031. doi: 10.3390/s130811007

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© 2013 by the authors; licensee MDPI, Basel, Switzerland.

This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).

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Figure 1. — Pinhole camera model. The image point x = (x_u, y_v) of a 3D point w is the intersection of the optical ray going through the optical centre O_c and the image plane I at a distance equal to the focal length f.