In the formula, fx and fy also represent the focal length, but the unit is pixel (pixel), and cx and cy represent the offset of the pixel coordinate system from the image coordinate system. Move z to the left and use homogeneous coordinates to write it in matrix form:
fx, fy also represents focal length, but in pixels, cx, cy represents the offset of the pixel coordinate system relative to the image coordinate system. Move z to the left and write it in matrix form using the coordinates:
Where FX and FY are the focal length, but the units are pixels. CX and CY are the offset of the pixel coordinate system relative to the image coordinate system. Move Z to the left and use homogeneous coordinates to write it in matrix form