Linear perspective en.wikipedia.org is a construction, not a discovery about how eyes work, and it has a date. Filippo Brunelleschi en.wikipedia.org demonstrated it in Florence around 1413 with a painted panel and a mirror, and Leon Battista Alberti en.wikipedia.org wrote the method down in De pictura en.wikipedia.org in 1435. The rule is that parallel lines receding from the viewer appear to meet at a point on the horizon, and the horizon sits at the viewer's eye level.

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