opencv
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Camera Models, End to End: Pinhole, Lens Distortion, Calibration & PnP — with OpenCV
How a 3-D point becomes a pixel and back again: the pinhole model and intrinsic matrix K, the extrinsics R|t, Brown–Conrady lens distortion (a corner can move 62 px), Zhang calibration to sub-pixel reprojection error, and solvePnP recovering a 68-px-off pose to ~0. The math, three interactive labs, and runnable OpenCV in Python and C++.
How 2D Convolution Works on Images: Kernels, Filters, and the Math, Interactively
2D convolution is the operation behind blur, sharpening, edge detection — and every CNN. Slide a kernel, multiply, sum: see it happen step by step in an interactive demo, apply real kernels to a live image, and get the math plus runnable OpenCV in Python and C++.
From Photons to Pixels: Image Formation and Color Spaces, with OpenCV in Python and C++
How a camera turns light into an array of numbers — projection, sampling, quantization, the Bayer sensor — and the color spaces (RGB/BGR, grayscale, HSV, YCrCb, Lab) you convert between every day. The equations, plus runnable OpenCV in both Python and C++.