projection matrix from Euclidean 3-space to an image:

- The null-space of is the optical centre of the camera.
- If the world coordinate system is aligned with the camera
coordinate system, then
.
- If the image measurements are
*normalised*, then (this corresponds to using points ).

In the following sections it is often only the * form*
of that is important, rather than its decomposition.

Wed Apr 16 00:58:54 BST 1997