Description of 2D and 3D Coordinate Systems and
In a 3D coordinate system, Xs, Ys, Zs. will be used for object coordinates in the scanner coordinate system. This is the coordinate system from which the transformation is made. Xc ,Yc ,Zc. will be used for the object coordinates expressed in the camera coordinate system at the location of the image plane in the camera (CCD sensor, Zc = f ................
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