Some documents that I refer to off and on.
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OpenGL Non-programmable Pipeline Overview This now is only good for understanding the geometric transformations involved. Sitll relevant/useful off and on. It is surprising how often I have had to revert back to it (and how many bugs I have found in it over the years!)
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Coordinate Transformations: Probably more useful to those who come to graphics/robotics without any background in Linear Algebra. (On that note, it is amazing how many graphics engineers, including some who interviewed me for a job, thought, probably still think it is essential to use homogeneous coordinates for clipping!)
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Linear Transformations and homogeneous coordinates: Another resource for those who do not have adequate background in Linear Algebra.
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Derivation of OpenGL projection matrix: I am sure there should be some paper or a book that would do this in detail. But I have not found it. If you happen to see this and know of such a resource, do let me know. At some point this was peer reviewed. So should be reasonably accurate. However no guarantees :-)
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Perspective Correct Interpolation of Linear Functions in Homogeneous Space: Very first version of SGI IRIS hardware got this wrong. Result: they had swimming textures. When I was his teaching assistant at grad school, Pete Shirley told me about the swimming textures. Then I read through Paul Heckbert's thesis. This document was created years after I had read through Paul Heckbert's thesis. Errors, if any, are mine.