Table of Contents

1. 2D和3D基础变换与合成
   1. 坐标标架转换
2. Frame / coordinate system transformation
3. 3D到2D的两种转换：rasterization, camera matrix
   1. Intrinsic and extrinsic matrix
   2. calibration
4. 2D到3D的两种转换：inverse camera matrix, spherical projection
   1. depth image to point clouds
   2. range image to point clouds

0 Why transformation

1-2D Transformations

2-3D Transformations

3-F2C and C2F

4-Viewing Transformations

Quaternions and rotations