.. _ImageFormation:

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Image Formation
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.. topic:: Video Resources

    * Projective geometry, homgeneous coordinates, and image formation
      are introduced by Peter Corke in these Robot Academy videos
      series on `How Images are Formed 
      <https://robotacademy.net.au/masterclass/how-images-are-formed/>`_, 
      and on the `geometry of image formation
      <https://robotacademy.net.au/masterclass/the-geometry-of-image-formation/?lesson=773>`_.

    * This material is also covered very well in two lectures by Aaron
      Bobick of Georgia Tech. It is available as a series of videos from
      Udacity. Watch lecture series `3A-L1
      <https://classroom.udacity.com/courses/ud810/lessons/2984798536/concepts/29432285730923>`_
      and `3A-L2
      <https://classroom.udacity.com/courses/ud810/lessons/2947768566/concepts/29736185660923>`_
      from the Udacity course *Introduction to Computer Vision*.

**Contents:**

.. toctree::
   :maxdepth: 2

   cameras
   projection
   homography
   stereoCams
   3d_sensors