[photogrammetry]
A physical, mathematical sensor model for a frame camera based on collinearity equations. It consists of an interior and an exterior orientation model. The camera calibration provides the interior orientation, consisting of the calibrated focal length; the location of the principal point; a 2D transformation of pixel row and column into x, y coordinates in millimeters, referenced to the principal point; and a lens distortion model. The exterior orientation consists of a specified ground coordinate reference model, a specification for camera station location and attitudes at the moment of exposure, and corrections for non-linear image rays that are outside of the sensor (for example, bending due to the atmosphere).