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**Definition**: *A **nonsingular projective mapping* between two projective spaces
is any mapping defined by multiplication of homogeneous coordinates by
a full rank matrix. A *collineation* on
* is an
invertible projective mapping of ** onto itself.*
All projective mappings can be represented by matrices. As with
homogeneous coordinate vectors, these are only defined up to a non-zero
rescaling.

*Bill Triggs*

*1998-11-13*