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2D Transformation. ScalingX\' = aXY\' = aYTranslationX\'=x bY\'=y bRotationx\' = r cos (q f ) = r cos q cos f - r sin q sin f y\' = r sin (q f ) = r sin q cosf r cos q sin f . so x\' = x cos f - y sin f y\' = y cos f x sin f . x = r cos q y = r sin q . x. y. Homogeneous Coordinates. In 2D, three elements can be used to represent a point, e.g., (x,y,1) to represent (x,y) or (wx,wy,w) w?0 to represent (x,y) (x,y,w) is a homogeneous coordinate representing the point (x/w, y/w)A poin15

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