Five random high-power fields (× 100 optical magnification) were captured from each of the three tumour areas using a Basler A113™ Matrix-camera (Basler Vision Technology, UK) connected to a computer running Lucia G™ software (Version 4.6 Nikon).
The homography [12] in camera-based view geometry attains a particular interpretation H = KE, where E represents Euclidean transformation matrix defining camera pose when viewing through target, and K represents camera perspective matrix known as intrinsic measures.
K C is the matrix of camera intrinsic parameters which can be obtained from Equation (9).
For pose estimation procedure, the projection matrix (or camera matrix) P will be calculated and saved along with the key frame.
In this way, we know the projection matrix of camera at every frame, and so we can track the three-dimensional hand model using the proposed method.
where C is the matrix of camera intrinsic parameters, d is the depth of the scene, and R j and t j are the rotation matrix and translation vector, respectively.
Knowledge of these homographies allows the corresponding projection matrices encoding camera motion to be expressed in a common projective frame and, therefore, to be recovered directly, without estimating 3D structure.
The extrinsic matrix describes a camera's "pose" including camera's rotation, pan-and-tilt, and location c in the world coordinate.
Let I t i represent these images of cameras i = 1, 2, 3, and time t = 1, …, T. All cameras need to be calibrated; thus, the camera matrices K i, rotation matrices (from camera i to camera j) R i j, and translation vectors t i j are given.
EBMCS has some features of a camera matrix and a camera array.
where R X is the rotation matrix of the camera tilt and c Y is the translation vector along the Y direction.
