| Ideal points and lines |
| (a,b,0) |
| -y |
| -y |
| (sx,sy,0) |
| -z |
| x |
| -z |
| image plane |
| image plane |
| x |
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| Ideal point
(“point at infinity”) |
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| • | p
(x, y, 0) – parallel to image plane |
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| • | It has infinite
image coordinates |
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| Ideal line |
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| • | l
(a, b, 0) – parallel to image plane |
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| • | Corresponds to a
line in the image (finite coordinates) |
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| – | goes through
image origin (principle point) |
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