I'm a math Ph.D. having worked mostly in analysis, so I'm not too familiar with projective geometry. My job has recently got me into pretty hardcore multicamera computer vision stuff and I was wondering if anyone knows a good, rigorous and dense introduction to projective geometry? I'm looking for something similar in spirit to what you would find here:
The only problem is that this book is constrained to rigid-body transformations while many CV applications require more than that. I've looked at various CV texts, but as someone who has studied math, I'm somewhat annoyed by their style. It would also help to link things more clearly with classical groups and actually use proper mathematical vocabulary.
In other words, I'm looking for something dense that can be read quickly by a mathematician and doesn't make it hard to recognize the meat from all the handwavy prose and other fluff.