We revisit the fundamentals of geometry that you would have learned at school: Euclidean geometry, Cartesian or analytic geometry, coordinate frames, points and vectors.
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We can describe the relationship between a 3D world point and a 2D image plane point, both expressed in homogeneous coordinates, using a linear transformation – a 3×4 matrix. Then we can extend this to account for an image plane which is a regular grid of discrete pixels.
Let’s recap the basics of homogeneous coordinates to represent points on a plane.
We revisit the fundamentals of 3D geometry that you would have learned at school: coordinate frames, points and vectors.