Photogrammetry rotation matrix

What I know are: world coordinate system, camera coordinate system and image coordinate system.

In the measurement environment, it is necessary to choose a reference coordinate system to describe the position of the camera and the measured object. This reference coordinate system is called the world coordinate system.

The origin of the camera coordinate system is the optical center of the camera, the X and Y axes are parallel to the X and Y axes of the image, and the Z axis is the optical axis of the camera and perpendicular to the image plane.

The relationship between the world coordinate system and the camera coordinate system can be described by the rotation matrix r and the translation vector t.

The image coordinate system represents the number of columns and rows of pixels in a digital image.