Computer Vision, Deep Learning, Robotics, Geometry, Artificial Intelligence.
transformation can be visualized as in the gif shown below: Re-iterating the process: we first rotate by Φ, then perform different scalings λ1 and λ2 in the new x and y directions, then rotate back by -Φ, then rotate by θ, and finally translate by tx and ty, giving a total 6 DOF transformation.