at the origin of 起源于

scene coordinate system 场景坐标系

optic axis of camera 照相机的视线

lens distortions 光学畸变

pin-hole camera model 针孔照相机模型

Perspective Projection 立体投影

are parallel with 与…平行

respectively 分别，各自

image plane 像平面，平面像

subject :computer vision