Chapter 12 notes from "Learning OpenCV"

Chapter12

	Analogy
Affine transform	Rectangle -> parallelogram
Perspective Transform	Rectangle -> trapezoid
Perspective projection	* Points in 3D physical world projected into 2D image plane along a set of projection lines that all meet a single point called the center of projection
POSIT:3D Pose Edtimation	We have a 3D object whose exact dimensions are known. POSIT will compute the pose means its position T and orientation R described by 6 parameters. At least 4 non-coplanner corresponding locations are required.
Undistortion	Mathematically removing radial and tangenial lens distortion
Rectification	Adjust angle and distance between cameras
Re-projection	if we know the geometric arrangement of the camera then by triangulation we can convert the disparity map into depth map. This step is called Re-projection