Rotation about optical centre

Original and rotated views

Rotated and translated views

Small and Large translation

• Between the upper images the camera rotates about its centre but does not translate. The images are thus related by a plane projective transformation. There is no parallax.
• Between the upper left and lower images the camera rotates about its centre and translates. The images are not related by a plane projective transformation, and motion parallax is evident. The multiple view relation here is epipolar geometry, which is described on the next slide.