5. Equation and Coordinate System Definitions: Coordinate System
Note: World can be either coordinate system, local or geographical. However, in order to work, extrinsics and points in question need to be in same coordinate system. I.E. you cannot use the projective matrix on geographic points when extrinsic re defined in local and vice versa.
| Nomenclature | Coordinate System |
|---|---|
| XYZC | Camera |
| xyz | Camera Homogeneous |
| XYZWL | World Local |
| XYZWG | World Geographical |
| XYZW | World: Either Local or Geographical |
| UVD | Image Distorted (lens calibration applied) |
| UV | Image Undistorted (no lens correction; assumes pinhole camera model) |
Figure 13: Relationship between World Coordinate Systems, Geographical and Local