Transformations

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projective transformation of a camera. • Reduce to a single 4 by 4 homogeneous coordinates transformation matrix. • Permit high speed ... Translation. • Rotation.
Transformations • Simplify the study of complex geometries and motions of manipulator linkages • Simplify the description of the perspective, projective transformation of a camera • Reduce to a single 4 by 4 homogeneous coordinates transformation matrix • Permit high speed implementation

Points A point in a plane (two dimensions) may be represented with respect to a Cartesian coordinate system by an ordered pair. In engineering, we write this as a column vector. In many math books this is written as a row vector. It does make a difference.

Five Transformation Types • • • • •

Translation Rotation Perspective Projective Scaling