General Camera Matrix
Given the mapping produced by a normalized camera matrix, the resulting normalized image coordinates can be transformed by means of an arbitrary 2D homography. This includes 2D translations and rotations as well as scaling (isotropic and anisotropic) but also general 2D perspective transformations. Such a transformation can be represented as a matrix which maps the homogeneous normalized image coordinates to the homogeneous transformed image coordinates :
Inserting the above expression for the normalized image coordinates in terms of the 3D coordinates gives
This produces the most general form of camera matrix
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