Homogeneous Transformations

Use the controls to build a homogeneous transform and watch how it moves the points and frame axes.

Rotation (degrees)

Roll (X): Pitch (Y): Yaw (Z):

Translation

X: Y: Z:

Homogeneous Matrix

Edit the entries (last row is fixed). Rotation overrides gray out the angle sliders; translation edits gray out the position sliders.

Legend

Original points (world coordinates)
Transformed points (matrix applied)
Dark axes: world frame
Bright axes: transformed frame

World View (Transform acts on points)