Description of 2D and 3D Coordinate Systems （描述的2 d和3 d坐标系统）.pdfVIP

Description of 2D and 3D Coordinate Systems and Derivation of their Rotation Matrices Conventions: In a 3D coordinate system, Xs, Ys, Zs will be used for object coordinates in the scanner coordinate system. This is the coordinate system from which the transformation is made. X ,Y ,Z will be used for the object coordinates expressed in the camera coordinate system c c c after they have been scaled by the camera lens. The Zc value for the object will be the location of the image plane in the camera, the CCD sensor and will be equal to the focal length of the camera, f (at CCD sensor, Zc = f). This is the coordinate system to which the scanner coordinates are transformed. X Y Z will be used to designate the object coordinates i, i, i after they are transformed to a coordinate system which has as its origin, the camera coordinate system origin but before scaling by the lens occurs. X Y Z are unaffected by the i, i, i camera lens optics. x, y, z will be used for the translation needed to move the origin of the scanner coordinate system to the origin of the camera coordinate system. The derivation will first be explained used a 2D example. In a 2D planar coordinate system X and Y will be used for the coordinate system that corresponds to the scanner coordinates, s s that is the system from which the transformation is made. X and Y will be used for the c c coordinate system that corresponds to the camera coordinates, that is the system to which the X and Y coordinates are transformed. The terms camera and scanner are used here