+
+{\bf TODO}
+\begin{itemize}
+ \item Intermediate coordinate systems...
+ \item Write Matrix operations properly
+ \item Link with the results where applying \eqref{view-transformation} directly leads to disaster
+ \item This is because for $v_w << 1$, an error of $1 ulp$ in $x - v_x$ is comparable with $v_w$, ie: Can increase to the order of the size of the display (or more)
+\end{itemize}
+