- Unlearn rotation matrices as rotations
- Planes in 3D space
- Beautiful visual description + maths of planes and 3d intersections
- https://www.cs.cmu.edu/~16385/lectures/lecture9.pdf
- https://www.robots.ox.ac.uk/~az/tutorials/cvpr03_part1.pdf
- https://medium.com/data-science/understanding-homography-a-k-a-perspective-transformation-cacaed5ca17
- https://wordsandbuttons.online/interactive_guide_to_homogeneous_coordinates.html
- https://www.robots.ox.ac.uk/~az/tutorials/cvpr03_part1.pdf