 Camera center

The camera center is the center of projection in an ideal perspective camera model: the common origin of its viewing rays. It is a point in scene space, distinct from a principal point, which is an image-plane coordinate. Two distinct camera centers define the camera baseline used by stereoscopy.

For the calibrated perspective projection model $q\sim K(RP+t)$, where $R$ is a rotation matrix, the camera center $C$ satisfies $RC+t=0$. HenceThis follows by applying the inverse rotation to the zero camera-space position.^[ref] For $R=I$ and $t=(-0.1,0,0)$ metres, $C=(0.1,0,0)$ metres: the translation parameter is not directly the world-space camera center. Rotating about that center changes viewing directions without creating a new triangulation baseline.