I should have paid more attention in class!

So it turns out that all that matrix math I learnt at Uni is actually useful. Unfortunately I can't remember most of it now so I am going through the very painful process of relearning it all.

I am trying to estimate what the image coordinates of an object will be after I perform a translation and rotation of the camera viewpoint. I think I've got the real world coordinates of the object relative to the new camera position. Now its just a matter of turning that into an image reference (pixel location).

Once I have this working I should be able to match features between frames. This will then enable me to estimate camera ego motion. Then I'll be well on my way to my SLAM goal :-)