The theory of perspective was taught in painting schools from the sixteenth century onward according to principles laid down by the masters... However, their treatises on perspective had on the whole been precept, rule, and ad hoc procedure; they lacked a solid mathematical basis. In the period from 1500 to 1600 artists and subsequently mathematicians put the subject on a satisfactory deductive basis, and it passed from quasi-empirical art to a true science. Definitive works on perspective were written much later by eighteenth-century mathematicians Brook Taylor and J. H. Lambert.

p. 183 - Mathematical Thought from Ancient to Modern Times (1972)