# Revision history [back]

Hi, the projection matrix is defined as P = KT (matrix multiplication)

where K => intrinsic parameters (camera parameters obtained by calibration)

     [fx, 0, cx;
K =  0, fy, cy;
0,  0,  1]


and T => extrinsic parameters (rotation matrix and translation vector [R|t] )

     [r11, r12, r13, t1;
T =  r21, r22, r23, t2;
r31, r32, r33, t3]


You can see this in the docs page.