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A special case of the projective camera is the **perspective**
(or **central**) projection, reducing to the familiar **pin-hole**
camera when the leftmost sub-matrix of is a
*rotation matrix* with its third row scaled by the inverse focal
length . The simplest form is:

which gives the familiar equations

Each point is scaled by its individual depth, and all projection
rays converge to the optic center.

Subhashis Banerjee
2002-02-18