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The coordinates (x', y') of the projected point are called image plane coordinates, or just image coordinates, for short The origin of the image plane coordinate system is located at the intersection of the image plane and the z axis of the camera coordinate system The z axis is called the principal axis or optical axis for the camera system, and the origin of the image plane coordinate system is called the principal point An affine transformation is an arbitrary linear transformation plus a translation In other words, the vector of point coordinates is multiplied by an arbitrary matrix and a translation vector is added to the result Affine transformations include changes in position and orientation (rigid body transformations) as a special case, as well as other transformations such as scaling, which changes the size of the object A transformation that changes the shape of an object in some general way is a nonlinear transformation, also called warping, morphing, or deformation There are several ways to represent rotation, including Euler angles and quaternions, covered in the following sections

I don t really drive a Corvette or a Mustang, so that leaves me out of the cool crowd here; however, these examples do show how you can make your scripts more useful by adding a way to check for certain conditions before an action takes place in the script You can make statements (such as the preceding statements) as simple or complex as you need them; however, the trick is in how to code all these statements so that JavaScript will interpret them as you intend them to be interpreted You will learn how to do this shortly, when you read about the various types of conditional statements you can use in your scripts

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Angular orientation can be specified by three angles: rotation w about the x axis, rotation > about the new y axis, and rotation /'i, about the new z axis Angle w is the pitch (vertical angle) of the optical axis, angle > is the yaw (horizontal angle) of the optical axis, and angle /'i, is the roll or twist about the optical axis These angles are called the Euler angles No rotation (zero values for all three angles) means that two coordinate systems are perfectly aligned Positive w raises the optical axis above the x-z plane in the direction of positive y, positive > turns the optical axis to the left of the y-z plane in the direction of negative x, and positive /'i, twists the coordinate system

Now that you know what conditional statements are, it s time to look at them in more detail and learn how to code them You will be looking at the two types of conditional statement blocks used in JavaScript: the if/else statement blocks and the switch statement blocks To begin, you will look at the if/else statement blocks, which are used quite often in JavaScript

While using conditional statements, you will see that they are similar to functions in some ways Most notable are the curly brackets ({}) that surround the sections of code that will be executed given a condition To give you a better understanding of how this works, I will explain the basic structure of an if/else statement block: its block structure, block nesting, and complex comparisons

rotation matrix R defined in Equation 1210 in terms of these angles are cos > cos K, sin w sin > cos K, + cos w sin K, - cos w sin > cos K, + sin w sin K, - cos > sin K, - sin w sin > sin K, + cos w cos K, cos w sin > sin K, + sin w cos K, sin > - sinw cos > cos w cos >

The first thing you must deal with in an if/else statement is the first line, which tells the browser to continue or move along You begin an if/else statement with the JavaScript keyword if, followed by a comparison in parentheses The following line shows a sample of the format of the first line:

5: Personal Information Manager (PIM)

(1213)

if (comparison here)

You replace the comparison here text with an actual comparison To do this, you need to remember the comparison operators from the previous chapter Suppose you want to see if a variable named boats is equal to 3 The following is how you write the first line of the if/else block:

Although this is a common representation for rotation, determining the rotation by solving for the Euler angles leads to algorithms that are not numerically well conditioned since small changes in the Euler angles may correspond to large changes in rotation Calibration algorithms either solve for the entries of the rotation matrix or use other representations for the rotation angles such as quaternions The rotation matrix is an orthonormal matrix,

if (boats==3)

RTR=I ,

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