The U-V-N System

The camera plane is defined by 3 parameters:

• View Reference Point (VRP): A point (in the world frame) indicating the center of the camera's image plane. This specifies the position of the camera in space.
• View Plane Normal (VPN): A unit vector perpendicular to the camera's image plane. This specifies the orientation of the camera.
• View Up (VUP): A vector indicating the up direction (in world coordinates) for the camera.