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The course notes for Stanford's CS231A course on computer vision

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In the file 02-single-view-metrology.pdf, page 8, 1st paragraph, "Finally, let’s suppose that we know that these planes are perpendicular in 3D. In this case, we know that from Equation 12,...

In equation 3 (Camera Models), the dimension of the terms are some real world image distance units (say `cm` for example). However, in equation 4, new terms i.e. `k` and...

Part 6a of the course notes, on feature descriptors, written by Sahaj Garg and Marcus Vincent Gomez.

Part 6A of the notes written by Sahaj Garg and Marcus Vincent Gomez for Feature Descriptors and Detectors.

See discussion of this issue at https://piazza.com/class/jc5klk9bdgd6z7?cid=459

Added a note for clarity (because this confused me)