This chapter serves as a prelude to the computer animation techniques presented in the remaining chapters. It is divided into two sections. The first serves as a quick review of the basics of the computer graphics display pipeline and discusses potential sources of error when dealing with graphical data. It is assumed that the reader has already been exposed to transformation matrices, homogeneous coordinates, and the display pipeline, including the perspective projection; this section concisely reviews these topics. The second section covers various orientation representations that are important for the discussion of orientation interpolation in Chapter 3.3.
2.1 Spaces and transformations
Much of computer graphics ...