For the most part, readers need only know how to program in C and perhaps some C++. Many of the math sections are optional and are labeled as such. The mathematics involves simple algebra and basic matrix algebra, and it assumes some familiarity with solution methods to least-squares optimization problems as well as some basic knowledge of Gaussian distributions, Bayes' law, and derivatives of simple functions.
The math is in support of developing intuition for the algorithms. The reader may skip the math and the algorithm descriptions, using only the function definitions and code examples to get vision applications up and running.
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