COMPUTER GRAPHICS

PROF. BAAGYERE Y. EDWARD

3/13/2022
CSC 405:Computer Graphics

¨ Instructor: Prof. Edward Y. Baagyere

¨ Office Location: SCIS Dean’s Office
¨ Telephone: +233249990362
¨ Email: [email protected]
¨ Office Hours: Fridays, 12:00 – 17:00
¨ Lecture Days/Time: Thursday: 09:00 – 10:55 am
Friday: 05:00 – 5:55 pm
¨ Lecture room: NHA2
¨ Pre-requisites: Computer Science standing.
¨ Good background in C++, Linear Algebra is helpful. Must have self-
motivations in self learning and independent research

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 CSC 405: Introduction to Computer Graphics

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 Lecture 2

TRANSFORMATIONS

in 2-D

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 2D TRANSFORMATIONS AND MATRICES
¨ Representation of Points:
𝑥
¨ 2 x 1 matrix:
𝑦
¨ General Problem: [B] = [T] [A]

¨ [T] represents a generic operator to be applied

to the points in A. T is the geometric

transformation matrix.
¨ If A & T are known, the transformed points are

obtained by calculating B.
 General Transformation of 2D points

𝑥′ 𝑎 𝑐 𝑥 𝑥′ 𝑇 𝑥 𝑇 𝑎 𝑐
v = v = 𝑦
𝑦′ 𝑏 𝑑 𝑦 𝑦′ 𝑏 𝑑
v 𝑥 ! = 𝑎𝑥 + 𝑐𝑦 v 𝑥 ! = 𝑎𝑥 + 𝑐𝑦
v 𝑦 ! = 𝑏𝑥 + 𝑑𝑦 v 𝑦 ! = 𝑏𝑥 + 𝑑𝑦

¨ Solid body transformations – the above equation is valid for

all set of points and lines of the object being transformed.

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 Special cases of 2D Transformations
¨ 1) T = identity matrix:
¨ 𝑎 = 𝑑 = 1, 𝑏 = 𝑐 = 0 ⇒ 𝑥 ! = 𝑥, 𝑦 ! = 𝑦
¨ 2) Scaling & Reflections:
¨ 𝑏 = 0, 𝑐 = 0 ⇒ 𝑥′ = 𝑎. 𝑥, 𝑦′ = 𝑑. 𝑦;
¨ This is scaling by a in x, d in y.
¨ If a = d, we have uniform scaling, else non-uniform scaling.
𝑆𝑥 0
¨ Scale matrix: let Sx = a, Sy = d:
0 𝑆𝑦

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Example of Scaling

Sx = 3
Sy = 2

• What if Sx and/ or Sy < 0 (are negative)? Get reflections through an

axis or plane. Only diagonal terms are involved in scaling and
reflections.
• Note : House shifts position relative to origin
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More examples of Scaling and reflection

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Special cases of Reflections (|T| = -1)

Matrix T Reflection About

𝟏 𝟎 Y=0 Axis (or X-axis)
𝟎 −𝟏
−𝟏 𝟎 X=0 Axis (or Y-axis)
𝟎 𝟏
𝟎 𝟏 Y = X Axis
𝟏 𝟎
𝟎 −𝟏 Y = -X Axis
−𝟏 𝟎
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 Off diagonal terms are involved in SHEARING ;

a = d = 1; let c = 0, 𝑎 𝑐 𝑥
=
𝑥′
𝑏 𝑑 𝑦 𝑦′
b=2
𝑥 ! = 𝑎𝑥 + 𝑐𝑦
=> x' = x, y' = 2x + y ; 𝑦 ! = 𝑏𝑥 + 𝑑𝑦
y' depends linearly on x ; This effect is called
shear.
Similarly for b=0, c not equal to zero. The shear
in this case is proportional to y-coordinate.
 ROTATION
n 𝑋! = 𝑥 cos 𝜃 − 𝑦 sin(𝜃)
n 𝑌! = 𝑥 sin 𝜃 − 𝑦 cos(𝜃)

cos(𝜃) − sin(𝜃)
n𝑇 =
sin(𝜃) cos(𝜃)

n Positive Rotations: counter clockwise about the origin

n For rotations, |T| = 1 and [T]T= [T]-1.
n Rotation matrices are orthogonal. 3/13/2022
 Special cases of Rotations

θ (in degrees) Matrix T

90 𝟎 −𝟏
𝟏 𝟎
180 −𝟏 𝟎
𝟎 −𝟏
270 or – 90 𝟎 𝟏
−𝟏 𝟎
360 or 0 𝟏 𝟎
𝟎 𝟏
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 Example - Transformation of a Unit Square

0 0 0 0
1 0 ! 𝑎 𝑏 𝑎 𝑏
¨ 𝑆= ¨ 𝑆 =𝑆 =
1 1 𝑐 𝑑 𝑎+𝑐 𝑏+𝑑
0 1 𝑐 𝑑
Area of the unit square after transformation = ad - bc = |T|.
Extend this idea for any arbitrary area. 3/13/2022
Translations

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 Translations
𝑇
¨ 𝐵 = 𝐴 + 𝑇𝑑 , 𝑤ℎ𝑒𝑟𝑒 𝑇𝑑 = [𝑡 𝑥 𝑡 𝑦 ]

Where else are translations introduced?

1) Rotations - when objects are not centered at the origin.
2) Scaling - when objects/lines are not centered at the origin
- if line intersects the origin, no translation.

Origin is invariant to Scaling, reflection and Shear – not translation.

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¨ Note: we cannot directly represent translations as matrix
multiplication, as we can for:
SCALING ROTATION

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 HOMOGENEOUS COORDINATES

Use a 3 x 3 matrix: 𝑥′ 𝑎 𝑐 𝑡𝑥 𝑥
𝑦′ = 𝑏 𝑑 𝑡𝑦 𝑦
𝑧′ 0 0 1 𝑧
We have:
x' = ax + cy + tx
y' = bx + cy + ty

¨ Each point is now represented by a triplet: (x, y, w).

¨ (x/w, y/w) are called the Cartesian coordinates of the homogeneous
points.
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Interpretation of Homogeneous Coordinates

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q Two homogeneous coordinates (x1, y1, w 1) & (x2, y2, w2) may
represent the same point, iff they are multiples of one another:
say, (1, 2, 3) & (3, 6, 9).
q There is no unique homogeneous representation of a point.
q All triples of the form (t.x, t.y, t.w) form a line in x, y, w space.
q Cartesian coordinates are just the plane w=1 in this space.
q w=0, are the points at infinity.
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General Purpose 2D transformations in homogeneous
coordinate representation
𝒂 𝒃 𝒑
𝑻= 𝒄 𝒅 𝒒
𝒎 𝒏 𝒔
Parameters involved in scaling, rotation, reflection and shear are: a, b,
c, d.
If B = T.A, then If B = A.T, then
Translation Translation
parameters: parameters:
What about (m, n)
(p, q)
S? 3/13/2022
 COMPOSITE TRANSFORMATIONS

¨ If we want to apply a series of transformations T1, T2, T3 to a set of

points, We can do it in two ways:
1) We can calculate p'=T1*p, p''= T2*p', p'''=T3*p"
2) Calculate T= T1*T2*T3, then p'''= T*p.
q Method 2, saves large number of additions and multiplications
(computational time) – needs approximately 1/3 of as many
operations. Therefore, we concatenate or compose the matrices into
one final transformation matrix, and then apply that to the points.
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 ¨ Translations:
1 0 (𝑡𝑥1 + 𝑡𝑥2)
Ø Translate the points by tx1, ty1, then by tx2, ty2: 0 1 (𝑡𝑦1 + 𝑡𝑦2)
0 0 1
¨ Scaling:
Ø Similar to translations

¨ Rotations:
Ø Rotate by θ1, then by θ2:

I. Stick the (θ1+ θ2) in for θ, or

II. Calculate T1 for θ1, then T2 for θ2 & multiply them.
¨ Exercise: Both gives the same result – work it out 3/13/2022
 Rotation about an arbitrary point P in space

¨ As we mentioned before, rotations are applied about the origin. So, to rotate
about any arbitrary point P in space, translate so that P coincides with the
origin, then rotate , then translate back. Steps are:

Ø Translate by (-Px, -Py )

Ø Rotate
Ø Translate by (Px, Py )
Rotation about an arbitrary point P in space

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Rotation about an arbitrary point P in space
𝑇 = 𝑇3(𝑃𝑥, 𝑃𝑦) ∗ 𝑇2(𝜃) ∗ 𝑇1(−𝑃𝑥, −𝑃𝑦)

1 0 𝑃𝑥 cos(𝜃) − sin(𝜃) 0 1 0 −𝑃𝑥

= 0 1 𝑃𝑦 sin(𝜃) cos(𝜃) 0 0 1 −𝑃𝑦
0 0 1 0 0 1 0 0 1

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 Scaling about an arbitrary point in Space

¨ Again,
Ø Translate P to the origin

Ø Scale

Ø Translate P back

¨ T = T1 Px, Py ∗ T2 Sx, Sy ∗ T3 (−Px, −Py)

𝑆𝑥 0 {𝑃𝑥 ∗ (1 − 𝑆𝑥)}
𝑇 = 0 𝑆𝑦 {𝑃𝑦 ∗ (1 − 𝑆𝑦)}
0 0 1
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 Reflection through an arbitrary line
¨ Steps:
Ø Translate line to the origin

Ø Rotation about the origin

Ø Reflection matrix

Ø Reverse the rotation

Ø Translate line back

𝑇ℎ𝑎𝑡 𝑖𝑠: 𝑇GHIJKL = 𝑇M 𝑅𝑇MKL 𝑅N 𝑇MOP

 Commutivity of Transformations
v If we scale, then translate to the origin, and then translate back,
is that equivalent to translate to origin, scale, translate back?

v When is the order of matrix multiplication unimportant?

v When does T1 * T2 = T2 * T1? T1 T2

translation translation
v Cases where T1 * T2 = T2 * T1: Scale Scale
Rotation Rotation
Scale (Uniform) Rotation
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 COORDINATE SYSTEMS
v Screen Coordinates: The coordinate system used to address the
screen (device coordinates)
v World Coordinates: A user-defined application specific coordinate
system having its own units of measure, axis, origin, etc.
v Window: The rectangular region of the world that is visible.
v Viewport: The rectangular region of the screen space that is used to
display the window.

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 WINDOW TO VIEWPORT TRANSFORMATION

o Purpose is to find the transformation matrix that maps the

window in world coordinates to the viewport in screen
coordinates.

o Window: (x, y space) denoted by: xmin, ymin, xmax, ymax

o Viewport: (u, v space) denoted by: umin, vmin, umax, vmax

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 Window – Viewport Transformation
The overall transformation:
Ø Translate the window to the origin

Ø Scale it to the size of the viewport

Ø Translate it to the viewport location

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 Exercise -Transformations of Parallel Lines
v Consider two parallel lines:
A[X 1, Y 1] to B[X 2, Y 2]
C[X 3, Y 3] to B[X 4, Y 4]

)*+), ).+)/
Slope of the lines: -*+-,
= -.+-/
Solve the problem: If the lines are 𝑎 𝑏
𝑇=
Transformed by a matrix: 𝑐 𝑑
! 0123
The slope of the transformed lines is: m =
4153
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