Anyone can tell me what s means and when the s is used in cameral model

it is discarded, not used.

if you have a 2D point (x,y), then in the corresponding projective space (3D), this is represented by (x,y,1), but also all (x,y,1) \cdot s for any nonzero s

you encounter this after matrix multiplication. you normalize (“dehomogenize”) the result by dividing by the last coordinate.

(x,y,1) = (x s, y s, s) / s