Chapter 4

Geometrical Transformations

1 11/27/2023
Chapter 4 Geometrical Transformations

 Matrix Representation
 Transformation
 2d transformations
 3d transformations
 Homogeneous Coordinates
 Combination of Transformations

2 11/27/2023
Matrix Transformations
 First of all let us review some basics of matrices. 2x2 matrices can be
multiplied according to the following equation .


3 11/27/2023
CONT..
 Matrix multiplication is not commutative. In other words, for two matrices
A and B, AB≠BA. We can see this from the following example.

 However, matrix multiplication is associative. This means that if we have

4 11/27/2023
1. 2D- Translation
 The translation transformation shifts all points by the same
amount.
 A translation is applied to an object by repositioning it along a straight-
line path from one coordinate location to another.
 therefore, in 2-D, we must define two translation
parameters:
 the x-translation tx
 the y-translation ty.

5 11/27/2023
CONT..
To translate a point P to P’ we add on a vector T:
 px 
P =  ………………………………………
p 
 y
 p′x 
P′ = 
 p′ 
 ………………………………………
 y
 tx 
T =  ………………………………………
t 
 y
 p′x   px   t x 
 = +  ………………………………
 p′   p  t 
 y   y  y
6 11/27/2023
Example translate the following triangle
 Given (2,3) ,(1,1),(3,1) and translation matrix =(3,1)

p′x = p x + t x
p′y = p y + t y
⇒ (2+3,3+1)=(5,4)
⇒ (1+3,1+1)=(4,2)
⇒ (3+3,1+1)=(6,2)

7 11/27/2023
2. 2-D Rotation
 The rotation transformation rotates all points about a center of rotation.
 Normally this center of rotation is assumed to be at the origin (0,0), although
as we will see later on it is possible to rotate about any point.
 The rotation transformation has a single parameter:
 The angle of rotation, θ.
 To rotate a point P anti-clockwise by θo, we apply the rotation matrix R:

8 11/27/2023
Cont..
 Therefore, we can see that the relationship between points before and after
the rotation is:


9 11/27/2023
3. 2-D Scaling
 The scaling transformation multiplies each coordinate of each point by a scale
factor.
 The scale factor can be different for each coordinate (e.g. for the x and y
coordinates).
 If all scale factors are equal, we call it uniform scaling, whereas if they are
different, we call it differential scaling.
 To scale a point P by scale factors Sx and Sy we apply the scaling matrix S:

10 11/27/2023
Example of Scaling
 Given (2,3) ,(1,1),(3,1) and Scaling Factor Sx,Sy)=(2,2)
 p’x=Sx*px=2*2=4
 P’y=Sy*Py=3*2=6
 p’x=Sx*px=1*2=2
 P’y=Sy*Py=1*2=2
 p’x=Sx*px=3*2=6
 P’y=Sy*Py=1*2=2
 Therefore
 (4,6) ,(2,2),(6,2)

11 11/27/2023
Homogeneous Coordinates
 To express any two-dimensional transformation as a matrix multiplication, we
represent each Cartesian coordinate position (x, y) with the homogeneous
coordinate triple (xh, yh, h), where:
 Coordinates are represented with three-element row vectors, and
transformation operations are written as 3 by 3 matrices
 For translation, we have:
exactly the same as before,
Therefore but we used a matrix
p′x = px + t x
, multiplication instead of an
p′y = p y + t y addition.

12 11/27/2023
Cont.…
 Similarly, rotation transformation equations about the coordinate origin are
now written as:
y ′ 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 0
 x ′ , , 1 = [x, y, 1] − 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 0 =
0 0 1

Therefore p′x = px cosθ − p y sin θ and p′y = p y cosθ + p y sin θ , which is the same outcome as before.

13 11/27/2023
 Cont..
 A scaling transformation relative to the coordinate origin is now expressed as
the matrix multiplication
𝑠𝑠𝑥𝑥 0 0
 x ′ , y ′ , 1 = [x, y, 1] 0 𝑠𝑠𝑦𝑦 0 =
0 0 1
 x S 0 0 
 
S = 0 Sy 0
0 1 
 0
 p′x   S x 0 0  px 
    
 p′y  =  0 Sy 0  p y 
1 0 1  1 
   0

14 11/27/2023
Examples
 Given a square with vertices at p1 = (10, 15), p2 = (15, 15), p3 = (15, 20) and p4 = (10,
20). Translate the points by (10, 5) using translation matrix.
 Solution:
1 0 0
 Tx = 10, Ty = 5 => 𝑀𝑀𝑇𝑇𝑇𝑇 = 0 1 0
10 5 1

1 0 0
 P1 = (10, 15)=> 10 15 1 0 1 0 = 20 20 1 => 𝑃𝑃1′ = (20 20 )
10 5 1

1 0 0
 P2 = (15, 15)=> 15 15 1 0 1 0 = 25 20 1 => 𝑃𝑃2′ = (25 20 )
10 5 1

15 11/27/2023
Cont...
1 0 0
 P3 = (15, 20)=> 15 20 1 0 1 0 = 25 25 1 => 𝑃𝑃3′ = (25 25 )
10 5 1

1 0 0
 P4 = (10, 20)=> 10 20 1 0 1 0 = 20 25 1 => 𝑃𝑃4′ = (20 25 )
10 5 1

16 11/27/2023
4. Reflection
 Reflection
 A reflection is a transformation that produces a mirror image of an object.
 The mirror image for a two-dimensional reflection is generated relative to an axis of
reflection by rotating the object 1800 about the reflection axis.
 We can choose an axis of reflection in the xy plane or perpendicular to the xy plane.
 When the reflection axis is a line in the xy plane, the rotation path about this axis is in a plane
perpendicular to the xy plane.
 For reflection axes that are perpendicular to the xy plane, the rotation path is in the xy plane.
 Reflection about the line y = 0, the x axis, is accomplished with the transformation matrix:

17 11/27/2023
5.2 3-D Transformation
1. Translation
 It is the movement of an object from one position to another
position.
 Translation is done using translation vectors.
 There are three vectors in 3D instead of two.
 These vectors are in x, y, and z directions.
 Translation in the x-direction is represented using Tx.
 The translation is y-direction is represented using Ty.
 The translation in the z- direction is represented using Tz.
18 11/27/2023
Cont..
 If P is a point having co-ordinates in three directions (x, y, z) is translated, then
after translation its coordinates will be (x1 y1 z1) after translation.
 Tx Ty Tz are translation vectors in x, y, and z directions respectively.
• Three-dimensional
transformations are performed
by transforming each vertex of
the object.
• If an object has five corners,
then the translation will be
accomplished by translating all
five points to new locations.
19 11/27/2023
20 11/27/2023
Matrix Translation

21 11/27/2023
Example 2
 Problem-
 Given a 3D object with coordinate points A(0, 3, 1), B(3, 3, 2), C(3, 0, 0), D(0,
0, 0). Apply the translation with the distance 1 towards X axis, 1 towards Y
axis and 2 towards Z axis and obtain the new coordinates of the object.

 Solution-
 Given-
 Old coordinates of the object = A (0, 3, 1), B(3, 3, 2), C(3, 0, 0), D(0, 0, 0)
 Translation vector = (Tx, Ty, Tz) = (1, 1, 2)

22 11/27/2023
Cont..
 For Coordinates A(0, 3, 1)
 Let the new coordinates of A = (Xnew, Ynew, Znew).
 Applying the translation equations, we have-
 Xnew = Xold + Tx = 0 + 1 = 1
 Ynew = Yold + Ty = 3 + 1 = 4
 Znew = Zold + Tz = 1 + 2 = 3
 Thus, New coordinates of A = (1, 4, 3).

23 11/27/2023
Cont..
 For Coordinates B(3, 3, 2)
 Let the new coordinates of B = (Xnew,Ynew, Znew).
 Applying the translation equations, we have-

 Xnew = Xold + Tx = 3 + 1 = 4
 Ynew = Yold + Ty = 3 + 1 = 4
 Znew = Zold + Tz = 2 + 2 = 4

 Thus, New coordinates of B = (4, 4, 4).

24 11/27/2023
Cont…
For Coordinates C(3, 0, 0)
 Let the new coordinates of C = (Xnew, Ynew, Znew).

 Applying the translation equations, we have-
 Xnew = Xold + Tx = 3 + 1 = 4
 Ynew = Yold + Ty = 0 + 1 = 1
 Znew = Zold + Tz = 0 + 2 = 2
 Thus, New coordinates of C = (4, 1, 2).

25 11/27/2023
Cont..
 For Coordinates D(0, 0, 0)
 Let the new coordinates of D = (Xnew, Ynew, Znew).
 Applying the translation equations, we have-
 Xnew = Xold + Tx = 0 + 1 = 1
 Ynew = Yold + Ty = 0 + 1 = 1
 Znew = Zold + Tz = 0 + 2 = 2

 Thus, New coordinates of D = (1, 1, 2).

26 11/27/2023
Cont..
 Example: A point has coordinates in
the x, y, z direction i.e., (5, 6, 7).
 The translation is done in the x-
direction by 3 coordinate and y
direction.
 Three coordinates and in the z-
direction by two coordinates.
 Shift the object. Find coordinates of
the new position.

27 11/27/2023
Cont..

28 11/27/2023
2. Scaling
 Scaling is used to change the size of an object.
 The size can be increased or decreased.
 The scaling three factors are required Sx Sy and Sz.]

 Sx= Scaling factor in x- direction

29 11/27/2023
Cont..
• steps performed when scaling of
objects with fixed point (a, b, c).

1. Translate fixed point to the origin

30 11/27/2023
Cont..
 Note: If all scaling factors Sx=Sy=Sz.Then scaling is
called as uniform Scaling.
 If scaling is done with different scaling vectors, it is called a
differential scaling.

31 11/27/2023
Example
 Problem-01:
 Given a 3D object with coordinate points A(0, 3, 3), B(3, 3, 6), C(3, 0, 1), D(0,
0, 0).
 Apply the scaling parameter 2 towards X axis, 3 towards Y axis and 3 towards
Z axis and obtain the new coordinates of the object.
 Solution-
 Given-
 Old coordinates of the object = A (0, 3, 3), B(3, 3, 6), C(3, 0, 1), D(0, 0, 0)
 Scaling factor along X axis = 2
 Scaling factor along Y axis = 3
 Scaling factor along Z axis =3

32 11/27/2023
Cont..
 Solution For Coordinates A(0, 3, 3)
 Let the new coordinates of A after scaling = (Xnew,Ynew, Znew).
 Applying the scaling equations, we have-
 Xnew = Xold x Sx = 0 x 2 = 0
 Ynew = Yold x Sy = 3 x 3 = 9
 Znew = Zold x Sz = 3 x 3 = 9
 Thus, New coordinates of corner A after scaling = (0, 9, 9).

33 11/27/2023
Cont..
 For Coordinates B(3, 3, 6)
 Let the new coordinates of B after scaling = (Xnew, Ynew, Znew).
 Applying the scaling equations, we have-
 Xnew = Xold x Sx = 3 x 2 = 6
 Ynew = Yold x Sy = 3 x 3 = 9
 Znew = Zold x Sz = 6 x 3 = 18
 Thus, New coordinates of corner B after scaling = (6, 9, 18).

34 11/27/2023
Cont..
 For Coordinates C(3, 0, 1)
 Let the new coordinates of C after scaling = (Xnew, Ynew,
Znew).
 Applying the scaling equations, we have-
 Xnew = Xold x Sx = 3 x 2 = 6
 Ynew = Yold x Sy = 0 x 3 = 0
 Znew = Zold x Sz = 1 x 3 = 3
 Thus, New coordinates of corner C after scaling = (6, 0, 3).

 35 11/27/2023
Cont..
 For Coordinates D(0, 0, 0)
 Let the new coordinates of D after scaling = (Xnew,Ynew, Znew).
 Applying the scaling equations, we have-

 Xnew = Xold x Sx = 0 x 2 = 0
 Ynew = Yold x Sy = 0 x 3 = 0
 Znew = Zold x Sz = 0 x 3 = 0
 Thus, New coordinates of corner D after scaling = (0, 0, 0).

36 11/27/2023
Rotation
 It is moving of an object about an angle.
 Movement can be anticlockwise or clockwise.
 3D rotation is complex as compared to the 2D rotation.
 For 2D we describe the angle of rotation, but for a 3D angle
of rotation and axis of rotation are required.
 There are 3 possible types of rotation-
X-axis Rotation
Y-axis Rotation
Z-axis Rotation

37 11/27/2023
CONT…

38 11/27/2023
CONT…
 For Y-Axis Rotation-
 This rotation is achieved by using the following rotation equations-
Xnew = Zold * sinθ + Xold * cosθ
Ynew = Yold
Znew = Yold * cosθ – Xold * Sinθ

39 11/27/2023
Cont...
 For Z-Axis Rotation-
 This rotation is achieved by using the following rotation equations-
 Xnew = Xold * cosθ – Yold*sinθ
 Ynew = Xold * sinθ + Yold *cosθ
 Znew = Zold

40 11/27/2023
Example
 Problem-01:
 Given a homogeneous point (1, 2, 3). Apply rotation 90 degree towards X,Y
and Z axis and find out the new coordinate points.
 Solution-
 Given-
 Old coordinates = (Xold,Yold, Zold) = (1, 2, 3)
 Rotation angle = θ = 90º

41 11/27/2023
For X-Axis Rotation-
 Let the new coordinates after rotation = (Xnew,Ynew, Znew).
 Applying the rotation equations, we have-
 Xnew = Xold = 1
 Ynew = Yold x cosθ – Zold x sinθ = 2 x cos90° – 3 x sin90° = 2 x 0 – 3 x 1 = -3
 Znew = Yold x sinθ + Zold x cosθ = 2 x sin90° + 3 x cos90° = 2 x 1 + 3 x 0 = 2
 Thus, New coordinates after rotation = (1, -3, 2).

42 11/27/2023
For Y-Axis Rotation-
 Let the new coordinates after rotation = (Xnew,Ynew, Znew).
 Applying the rotation equations, we have-
 Xnew = Zold x sinθ + Xold x cosθ = 3 x sin90° + 1 x cos90° = 3 x 1 + 1 x 0 = 3
 Ynew = Yold = 2
 Znew = Yold x cosθ – Xold x sinθ = 2 x cos90° – 1 x sin90° = 2 x 0 – 1 x 1 = -1

 Thus, New coordinates after rotation = (3, 2, -1).

43 11/27/2023
For Z-Axis Rotation-
 Let the new coordinates after rotation = (Xnew,Ynew, Znew).
 Applying the rotation equations, we have-
 Xnew = Xold x cosθ – Yold x sinθ = 1 x cos90° – 2 x sin90° = 1 x 0 – 2 x 1 =
-2
 Ynew = Xold x sinθ + Yold x cosθ = 1 x sin90° + 2 x cos90° = 1 x 1 + 2 x 0 =
1
 Znew = Zold = 3

 Thus, New coordinates after rotation = (-2, 1, 3)

44 11/27/2023
Combination of Transformations
 A number of transformations or sequence of transformations
can be combined into single one called as composition.
 The resulting matrix is called as composite matrix. The process
of combining is called as concatenation.
 Suppose we want to perform rotation about an arbitrary point,
then we can perform it by the sequence of three transformations
1.Translation
2.Rotation
3.Scaling

45 11/27/2023
Example

46 11/27/2023
 End of chapter 4

47 11/27/2023