I was going through the camera matrix explained in the wikipedia article and understand how the matrix K \begin{bmatrix}f_x&s&x_0\\0&f_y&y_0\\0&0&1\end{bmatrix} is built. The projection matrix is then essentially K * [R | T]

However, I am not able to understand what the perspective projection matrix is and how is it same to the intrinsic matrix K

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  • $\begingroup$ "The **projection matrix is then essentially...". AFAICS That's not a projection matrix.. it's not really a "2D" rotation + translation matrix either. Are you familiar with homogeneous coordinates? You really need to understand those first. $\endgroup$ – Simon F Jan 14 at 8:40
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    $\begingroup$ @SimonF this matrix can be easily broken into 2D Scaling "+" 2D translation. Also, this is essentially the simple perspective projection matrix. (multiply by it and then homogenise the co-ordinates.) $\endgroup$ – midi Jan 14 at 17:28
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    $\begingroup$ @SimonF I now understand that the projection matrix (with the viewing frustum mapped to a cube) is used as it contains depth information which is lost in the simple perspective projection matrix I had written earlier. $\endgroup$ – midi Jan 14 at 17:30
  • $\begingroup$ Oh good. :-) FWIW my first comment was that you'd written [R|T] which seemed to me to imply Rotation +Scaling, but the matrix requires another term. $\endgroup$ – Simon F Jan 15 at 9:42

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