Project 5 - Image Warping and Mosaicing

For the first part of this project, I recitifed images according to a calculated homography matrix. I define at least 4 points of correspondence between two separate images. These correspondences are used to calcaluate the transform required to map one image's pixels to a desired form. We can formulate this as a least squares problem, aH = b. We want to get H in the form of the 3x3 matrix on the right side of the equation below.

Here is the Least Squares formulation

Once I calculated H, I used it's inverse to transform my image to it's rectified form.