Transformations are one of the primary vehicles used in computer graphics to manipulate objects in three-dimensional space. Their development is motivated by the process of converting coordinates between frames, which results in the generation of a matrix. We can generalize this process and develop matrices that implement various transformations in space.
In these notes, we discuss the basic transformations that are utilized in computer graphics - translation, rotation, scaling - along with several useful complex transformations, including those that work directly with the definition of a camera and the projections to image space.
The reader should read and understand the notes on frames before pursuing these notes.
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