uasortho

web visualization for a camera FOV from an aerial camera

$\begin{align*} s \begin{bmatrix} x\\ y\\ 1 \end{bmatrix} &= \begin{bmatrix} f & 0 & cx \\ 0 & f & cy \\ 0 & 0 & 1 \\ \end{bmatrix} R^{from-world}_{to-camera} \begin{bmatrix} 1 & 0 & 0 & -Xc \\ 0 & 1 & 0 & -Yc \\ 0 & 0 & 1 & -Zc \\ \end{bmatrix} \begin{bmatrix} X_w\\ Y_w\\ Z_w \end{bmatrix}\\ s \begin{bmatrix} x\\ y\\ 1 \end{bmatrix} &= P \begin{bmatrix} X_w\\ Y_w\\ Z_w \end{bmatrix} \end{align*}$