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The page, 'Camera Calibration and 3D Reconstruction' is made excellent and important to beginners for understanding of CV: https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html

But, there are two things found for improvement:

1. There is no description for (x, y, z): I think it is the coordinates of a point in camera frame Xc-Yc-Zc.
2. In the first figure, instead of P=(X, Y, Z), p=(x, y, z) would be better for understanding because only the camera frame Xc-Yc-Zc is drawn in the figure though P and p indicate the same point in different frame.

The page, 'Camera Calibration and 3D Reconstruction' is made excellent and important to beginners for understanding of CV: https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.htmlhttps://docs.opencv.org/master/d9/d0c/group__calib3d.html

But, there are two things found for improvement:

1. There is no description for (x, y, z): I think it is the coordinates of a point in camera frame Xc-Yc-Zc.
2. In the first figure, instead of P=(X, Y, Z), p=(x, y, z) would be better for understanding because only the camera frame Xc-Yc-Zc is drawn in the figure though P and p indicate the same point in different frame.

The page, 'Camera Calibration and 3D Reconstruction' is made excellent and important to beginners for understanding of CV: CV: https://docs.opencv.org/master/d9/d0c/group__calib3d.html

But, there are two things found for improvement:

1. There is no description for (x, y, z): I think it is the coordinates of a point in camera frame Xc-Yc-Zc.
2. In the first figure, instead of P=(X, Y, Z), p=(x, y, z) would be better for understanding because only the camera frame Xc-Yc-Zc is drawn in the figure though P and p indicate the same point in different frame.

The page, 'Camera Calibration and 3D Reconstruction' is made excellent and important to beginners for understanding of CV: https://docs.opencv.org/master/d9/d0c/group__calib3d.htmllink

But, there are two things found for improvement:

1. There is no description for (x, y, z): I think it is the coordinates of a point in camera frame Xc-Yc-Zc.
2. In the first figure, instead of P=(X, Y, Z), p=(x, y, z) would be better for understanding because only the camera frame Xc-Yc-Zc is drawn in the figure though P and p indicate the same point in different frame.