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Note 7 to 10

RAndom SAmple Consensus (RANSAC)​

https://zh.wikipedia.org/zh-tw/%E9%9A%A8%E6%A9%9F%E6%8A%BD%E6%A8%A3%E4%B8%80%E8%87%B4

Linear transformation​

https://en.wikipedia.org/wiki/Linear_map

// Rotation by angle θ
R = [ cosθ  -sinθ ]
      sinθ   cosθ

// Reflection
x axis:
R = [ 1  0 ]
      0 -1

y axis:
R = [ -1  0 ]
       0 -1

// Scale with s times
S = [ s 0 ]
      0 s

Homogeneous Coordinate​

http://www.songho.ca/math/homogeneous/homogeneous.html