2D Geometric Transformations

(Chapter 5 in FVD)

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 2D geometric transformation

• Translation
• Scaling
• Rotation
• Shear
• Matrix notation
• Compositions
• Homogeneous coordinates

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 2D Geometric
Transformations
• Question: How do we represent a
geometric object in the plane?
• Answer: For now, assume that
objects consist of points and lines.
A point is represented by its
Cartesian coordinates: (x,y).

• Question: How do we transform a

geometric object in the plane?
• Answer: Let (A,B) be a straight line
segment and T a general 2D
transformation: T transforms (A,B)
into another straight line segment
(A’,B’), where A’=TA and B’=TB.
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 Translation
• Translate (a,b): (x,y) (x+a,y+b)

Translate(2,4)

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 Scale
• Scale (a,b): (x,y) (ax,by)

Scale (2,3)

Scale (2,3)

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• How can we scale an object
without moving its origin (lower
left corner)?

Translate(-1,-1)

Translate(1,1) Scale(2,3)

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 Reflection

Scale(-1,1)

Scale(1,-1)

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 Rotation
• Rotate(q):
(x,y) (x cos(q)+y sin(q), -x sin(q)+y cos(q))

Rotate(90)

Rotate(90)

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• How can we rotate an object
without moving its origin (lower
left corner)?

Translate(-1,-1)

Translate(1,1)
Rotate(90)

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 Shear
• Shear (a,b): (x,y) (x+ay,y+bx)

Shear(1,0)

Shear(0,2)

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 Composition of
Transformations
• Rigid transformation:
– Translation + Rotation (distance
preserving).
• Similarity transformation:
– Translation + Rotation + uniform
Scale (angle preserving).
• Affine transformation:
– Translation + Rotation + Scale +
Shear (parallelism preserving).
• All above transformations are groups
where Rigid  Similarity  Affine.

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Affine

Similarity

Rigid

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 Matrix Notation
• Let’s treat a point (x,y) as a 2x1
matrix (a column vector):
x 
 y
 

• What happens when this vector is

multiplied by a 2x2 matrix?

a b   x  ax  by 
 c d   y    cx  dy 
    

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 2D Transformations

• 2D object is represented by points

and lines that join them.
• Transformations can be applied
only to the the points defining the
lines.
• A point (x,y) is represented by a
2x1 column vector, and we can
represent 2D transformations
using 2x2 matrices:

 x '  a b   x 

 y '  c d   y 
    

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 Scale
• Scale(a,b): (x,y) (ax,by)

a 0  x  ax 
 0 b  y   by 
    

• If a or b are negative, we get

reflection.

• Inverse: S-1(a,b)=S(1/a,1/b)

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 Reflection
• Reflection through the y axis:
  1 0
 0 1
 
• Reflection through the x axis:
 1 0
0 1
 
• Reflection through y=x:

0 1
1 0 
 
• Reflection through y=-x:
 0  1
 1 0
 
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 Shear, Rotation

• Shear(a,b): (x,y) (x+ay,y+bx)

1 a   x   x  ay 
b 1   y    y  bx 
    

• Rotate(q):
(x,y) (xcosq+ysinq , -xsinq + ycosq)

 cosq sin q   x   x cosq  y sin q 

 sin q 
 cosq   y   x sin q  y cosq 
  

• Inverse: R-1(q)=RT(q)=R(-q)

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Composition of Transformations

• A sequence of transformations
can be collapsed into a single
matrix:
 x  x
ABC    D 
 y  y
• Note: order of transformations is
important! (otherwise - commutative groups)

translate rotate

rotate translate

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Composition of Transformations
(Cont.)

D=ABC

D-1 = C-1B-1A-1

Proof:

D * D-1 = ABC * C-1B-1A-1 =

AB*I*B-1*A-1=
A*I*A = I

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 Translation
 x   x  a
• Translation(a,b):
 y    y  b
   
• Problem: Cannot represent
translation using 2x2 matrices.

• Solution:
Homogeneous Coordinates

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 Homogeneous Coordinates
• Homogeneous Coordinates is a
mapping from Rn to Rn+1:

( x, y)  ( X , Y ,W )  (tx, ty, t )

• Note: (tx,ty,t) all correspond to

the same non-homogeneous point
(x,y). E.g. (2,3,1)(6,9,3).

• Inverse mapping:
X Y 
( X , Y ,W )   , 
W W 

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 Translation
• Translate(a,b):
1 0 a   x   x  a 
0 1 b   y    y  b 
    
0 0 1   1   1 

• Inverse: T-1(a,b)=T(-a,-b)
• Affine transformation now have
the following form:

a b e
c d f 

 0 0 1 

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 Geometric Interpretation
W

Y
(X,Y,W)
1 y
x
(X,Y,1)

X
• A 2D point is mapped to a line
(ray) in 3D. The non-homogeneous
points are obtained by projecting
the rays onto the plane Z=1.
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 • Example: Rotation about an
arbitrary point:
(x0,y0)

• Actions:
– Translate the coordinates so that the
origin is at (x0,y0).
– Rotate by q.
– Translate back.
 1 0 x0   cosq sinq 0 1 0  x0   x 
0 1 y   sinq cosq 0 0 1  y0   y  
 0 

0 0 1  0 0 1 0 0 1   1 

cosq  sinq x0 (1 cosq )  y0 sinq   x 

  sinq cosq y0 (1 cosq )  x0 sinq   y 
 0 0 1   1 
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• Another example: Reflection
about an Arbitrary Line:

p2

p1
L=p1+t (p2-p1)=t p2+(1-t) p1

• Actions:
– Translate the coordinates so that P1
is at the origin.
– Rotate so that L aligns with the x-
axis.
– Reflect about the x-axis.
– Rotate back.
– Translate back.
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 Change of Coordinates
• It is often requires the transformation of
object description from one coordinate
system to another.
• How do we transform between two
Cartesian coordinate systems?
• Rule: Transform one coordinate frames
towards the other in the opposite
direction of the representation change.

y’ x’

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 Change of Coordinates (Cont.)
Example:
X

P’

O Y

X’

O’ Y’

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• Example:
– Represent the point P=(xp,yp,1) in the
(x’,y’) coordinate system.

P' MP
where

 cosq  sin q 0  1 0  x0 
  
M  R T   sin q
1 1
cosq 0  0 1  y0 
 0 1  0 0 1 
 0

y’
y x’

q
(x0,y0)
(xp,yp)

x
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• Alternative method:
– Assume x’=(ux,uy) and y’=(vx,vy) in the
(x,y) coordinate system .

P' MP

where

 ux uy 0  1 0  x0 
  
M   vx vy 0  0 1  y0 
0 1  0 0 1 
 0

y’ x’
y

(vx,vy)
(ux,uy) (x0,y0)

x
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• Example:
– P is at the y’ axis P=(vx,vy):

y
(vx,vy)
(ux,uy)

y’ x’
x

ux uy 0  v x   0 
    
P'  MP   v x vy 0  v y   1
0    1
 0 1  1   

– What is the inverse?

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 • Another example: Reflection about an
Arbitrary Line:
p2
y

p1

• Define a coordinate systems (u,v)

parallel to P1P2:
p 2  p1  u x 
u  
p 2  p1  u y 

  u y   vx 
v   v 
 ux   y 

 1 0 p1x  u x vx 0  1 0 0  u x uy 0  1 0  p1x 
     
M   0 1 p1y  u y vy 0  0  1 0  v x vy 0  0 1  p1y 
 0 0 1  0  
  0 1 0 0 1 0 0 1 0 0 1 

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