Cool. Another book you'll want to check out is Richard Szeliski's free draft of "Computer Vision: Algorithms and Applications", second edition, https://szeliski.org/Book/
Thanks for recommending it! Just this week I started a sabbatical devoted to putting together a computer vision + ML project. So this will be useful. Adding it to my learning journal.
A lot of 3D Geometry algorithms are based on clean derivations and estimations, thus depending on your math fluency, you will find great enjoyment in that book too. The proofs flow really well.