# Finding the linear mapping between homogeneous coordinates of affine camera

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

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

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