There are a variety of texts on the subject of homogeneous coordinate systems and matrix transforms. Almost any text on 3D computer graphics will have a section devoted to the topic. The authors offer the following titles as starting points. In particular, [Rodgers90] has a good discussion of coordinate systems and matrix manipulations.

### [Foley92]

James D. Foley, Andries van Dam, Steven K Feiner, John F. Hughes, ``Computer Graphics, Principles and Practice'', Addison-Wesley Publishing Company, 1992. ISBN 0-201-12110-7

Note: Chapter 5, Section 6 presents homogeneous coordinate systems.

### [Newman79]

W. M. Newman, R. F. Sproul Principles of Interactive Computer Graphics, 2nd ed., McGraw-Hill, New York, 1979. ISBN 0-07-046338-7

Note: Chapters 22 and 23 present matrix transformation and homogeneous coordinates.

### [Rogers90]

D. F. Rogers and J. A. Adams Mathematical Elements for Computer Graphics, 2nd ed., McGraw-Hill, New York, 1990. ISBN 0-07-053529-9 (hard cover) ISBN 0-07-053530-2 (soft cover)

Note: Chapters 2 and 3 present matrix transformation and homogeneous coordinates.