The mathematical model of camera is established by using the projective and perspective theroy and the matrix transformation theroy,which include both radial distortion and tangential distortion.

• 本文利用投影和透视变换理论以及矩阵转换知识建立了摄像机数学模型，模型中全面考虑了镜头的径向畸变和切向畸变。