I can't really say that this formula demystifies things, but the video is nice if you're eager to learn about this.
One important revelation in that regard for instance, was that moving a camera within a world is mathematically exactly the same as moving the world in the opposite direction relative to the camera. Once you get a feel for how transformations and coordinate spaces work, you can start playing around with them and a whole new world of possibilities opens up to you.
I had to walk him away.
The rotation formula eludes me.
Interestingly, in a way, rotation is less mystical than the perspective projection. The rotation is linear: x' = Rx, but the perspective projection is non-linear.
This is where things become fun. Next up are homogeneous coordinates or quaternions. Takes a few years of your life to actually enjoy this though :)
And spin groups beat quaternions since they work in every (finite) dimension. :-)
(i didn't see the video except the beginning to check what was the "mysterious formula".)
https://www.essentialvermeer.com/technique/perspective/histo...
It is quite likely that artists in earlier periods struggled with this as well, and were less concerned with adhering strictly to a photographic or geometrically exact perspective, as we are. The adoption of the camera obscura probably influenced things a lot.
The Multiview Geometry Book begins with a great deep dive on the topic.
https://www.cambridge.org/us/universitypress/subjects/comput...
Casey Muratori's Handmade Hero series has several excellent explainers aimed at aspiring game developers, there's even a math playlist:
https://www.youtube.com/playlist?list=PLEMXAbCVnmY7lyKDlQbdb...
Learning that perspective happens via /z is nowhere near sufficiently demystifying IMO