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# Multiple-View Geometry

- preserve straightness
- Projective in homogeneous coordinates: both$(x, y, 1)$and$(x, y, 0)$are defined

- In Projective Space, we single out a particular line and call it the line at infinity.
- With this line at infinity, we are able to define parallelism, and equal length of two intervals.

- In Affine Geometry, we further single out two circular points in the line at infinity.
- Two circular points:$(1, ±i, 0)^\mathrm{T}$which satisfy a pair of real equations:$x^2 + y^2 = 0; w = 0$.
- With two circular points, we are able to define angle and length ratios.
- Representation:$(x, y)$

Last modified 6mo ago