How to detect corresponding locations from images related by rotation about camera center?

are you asking what to do with a 3-dimensional vector that represents a 2D coordinate in homogeneous coordinates?

if you have a vector, the last dimension is the projective one. you take that value and divide the entire vector by that.

(xw, yw, w) / w = (x, y, 1)

and that’s it.

please find a book or other teaching materials that explain this to you.

if you have questions based on that, feel free to ask.

https://docs.opencv.org/4.x/d9/dab/tutorial_homography.html