Common Variable Names

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Common Variable Names

A number of variables are usually represented by certain symbols, by convention. This is a partial list:

• U, V ------- horizontal and vertical image coordinate, V increasing downward
• x, y, z ---- general world coordinate
• U0, V0 ----- image coordinates of the principal point (center) of an image
• xc, yc, zc - world coordinates of a camera
• P ---------- 3 by 4 camera projection matrix for projective transformation
• m ---------- 1 by 11 historical equivalent of P as a vector
• fu, fv ----- focal length of a camera/lens, expressed in pixels
• K ---------- 3 by 3 matrix of the intrinsic parameters for a camera/lens
• R ---------- 3 by 3 rotation matrix (relative orientation of camera/world cords

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