https://www.youtube.com/watch?v=ND2fa08vxkY
extrinsics
- where is the camera in the world?
- 6 degrees of freedom
- (x,y,z) for location
- and (a,b,c) for orientation localization estimates extrinsics
- pinhole camera projection center defines camera system
intrinsics
- camera calibration & pose estimation
- how to map a 3d world point onto a 2d image
- described by 4-5 parameters
- C = camera constant, distance of image plane from camera center
- m = scale difference in x-y
- fx,fy = focal length
- (x,y) principle point / optical center = pixel in the image through which the optical axis of the camera passes?
- describes where the point sits in the image