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2012-12-06 20:03:28 -0600	commented answer	how can I do back-projection? Thx again. I use pixel size deltaD to get focal length and z value: f = deltaD*(fx+fy)/2, z = f. Then I can know the exact 3D position of points on image plane.
2012-12-05 06:58:50 -0600	commented answer	how can I do back-projection? Thank you for your answer. But I think image plane should be a plane z > 0. If it's the plane z = 0, then the point on the image plane calculated by x = (u-cx)z/fx and y = (v-cy)z/fy will be P(0, 0, 0). Isn't that the camera center should be O(0, 0, 0)? Image plane locates before camera center, so I think image plane should be a plane z > 0. But how can I get the exact equation of the image plane(the physical image sensor plane)?
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2012-12-03 20:56:50 -0600	asked a question	how can I do back-projection? I calibrated my single camera using Camera Calibration Toolbox for Matlab(http://www.vision.caltech.edu/bouguetj/calib_doc/), and already have the intrinsic and extrinsic parameters. Now given a pixel of one image, how can i do back-projection from 2D pixel to 3D ray? That is, how can i calculate the equation of ray connecting the camera center and the pixel point on the image sensor plane? And how can i know the equation of physical image sensor plane in world reference frame? thx very much.