Lecture 3: Coordinate Systems and Transformations
by a 3 3 matrix and shift by a vector. However, in computer graphics we prefer to use frames to achieve the same thing. A frame is a richer coordinate system in which we have a reference point P0 in addition to three linearly independent basis vectors v1, v2, v3, and we represent vectors v and points P, di erently, as v = 1v1 + 2v2 + 3v3;
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