相机矩阵的原理点（编程问题）
在 3x3 相机矩阵中，主点的作用是什么？它的位置是如何形成的？我们能想象一下吗？ 据了解，主点是光轴与像平面的交点。但为什么它并不总是位于图像的中心呢？ 我们使用opencv
In a 3x3 camera matrix what does the principle point do? how its location is formed? can we visualize that?
It is told that the principle point is the intersection of optical axis with the image plane. but why it is not always in the center of image?
we use opencv
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3x3 相机内在矩阵用于将图像中的坐标映射到物理世界坐标。同样，该矩阵中主点的作用是图像中坐标到物理世界坐标之间“光轴与图像平面的交点”的映射。对于大多数相机来说，理想情况下主点位于图像的中心，但实际情况并非总是如此。由于切向畸变或透镜部件的中心不完美以及其他制造缺陷，主点可能会稍微偏离中心。 3x3 相机内在矩阵试图纠正这种失真。
我发现此网站对我学习时有帮助关于相机校准。虽然它是在 MATLAB 中，但它基于 OpenCV 中使用的相同相机校准。
The 3x3 camera intrinsics matrix is used to map between the coordinates in the image to the physical world coordinates. Similarly, the role of the principle point in this matrix is the mapping of "the intersection of optical axis with the image plane", between the coordinates in the image to the physical world coordinates. Ideally the principle point is in the center of the image, for most cameras, but this is not always the case in practice. The principle point may be slightly off center due to tangential distortion or imperfect centering of the lens components and other manufacturing defects. The 3x3 camera intrinsics matrix tries to correct this distortion.
I have found this site to be helpful to me when when learning about camera calibration. Although it is in MATLAB, it is based on the same camera calibration used in OpenCV.
更有用的是，3x3 相机校准矩阵中的主点也可能表示图像裁剪。如果图像已在对象周围裁剪，则将像素坐标映射到单词坐标需要一个平移向量，该向量在矩阵中显示为非中心主点。
The principal point in the 3x3 camera calibration matrix might also, more usefully, represent image cropping. If the image has been cropped around an object, then mapping the pixel coordinates to word coordinates requires a translation vector which appears as a non-centralized principal point in the matrix.