Develop an expression for the planar homography between two planes in the same image. That is, given two planar objects in the same view, develop an expression that under perspective projection maps...

Develop an expression for the planar homography between two planes in the same image. That is, given two planar objects in the same view, develop an expression that under perspective projection maps scene points from one plane to the other.  Develop an expression for the planar homography between a point [x y] lying on an object on the z = 0 plane and its projection [u v] into the camera with intrinsic camera parameters given by A and extrinsic parameters given by R and T .