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If I have an affine camera with a projection relationship governed by:

\begin{equation} \begin{bmatrix} x & y \end{bmatrix}^T = A \begin{bmatrix} X & Y & Z \end{bmatrix}^T + b \end{equation} where A is a 2x3 matrix and b is a 2x1 vector. How can I form a matrix representing the linear mapping between the world point $(X,Y,Z)$ and image point $(x,y)$ if they are represented by homogeneous vectors?

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  • $\begingroup$ Why isn't the equation in the question a linear mapping between the world point and the image point? $\endgroup$ – Apass.Jack Mar 2 at 19:14

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