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Perspective Projection
This section describes two different camera models. In the first part the relation between the world and the camera is explained by example. We use an ideal model of the camera, the so-called pinhole camera. It is the easiest model of a camera, but some basic relations between the world and the camera can be discussed. Unfortunately the pinhole through which the light enters is almost infinitely small in this model. But the smaller the hole, the lesser light enters the camera. Thus, in reality lenses are used to form the image on the sensor chip. The second model includes a lens. Regrettably, when using a lens it comes to a distortion effect whose properties have to be known in order to solve the corresponding problem and achieve accurate results.