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to
is
![$\displaystyle \left[\begin{array}{c}
x_{1} \\ x_{2} \\ x_{3}
\end{array}
\rig...
...t]
\left[ \begin{array}{c}
X_{1} \\ X_{2} \\ X_{3} \\ X_{4}
\end{array}\right]
$](img244.png)
where
and
are
homogeneous coordinates related to 
and 
by
The transformation matrix
![$ {\bf T} = [T_{ij}]$](img248.png){kind=small}
has 11 degrees of
freedom since only the ratios of elements 
are important.