👉 Lens math is a mathematical framework used in computer vision to describe the geometric transformations and projections of 3D scenes onto 2D images captured by cameras. It involves understanding how points in 3D space map to corresponding points in the image plane, considering factors like camera position, orientation, and lens characteristics. Key concepts include epipolar geometry, which defines the constraints on the relative positions of points in different views, and the fundamental matrix that relates corresponding points across images. Lens math also incorporates distortion models to correct for lens imperfections, enabling accurate reconstruction of 3D scenes from 2D images. This framework is crucial for tasks like stereo vision, structure from motion, and image-based 3D reconstruction.