function [P] = buildCameraMatrix(R,T,f,Sx,Sy,Ox,Oy)

    Mint = [-f/Sx,   0  , Ox; ...
              0  , -f/Sy, Oy;
              0  ,   0  ,  1];
          
    Mext = [R,-R*T'];
    
    P = Mint * Mext;
