INTRODUCTION TO COMPUTER GRAPHIC S

Transformations

Stuff
 INTRODUCTION TO COMPUTER GRAPHIC S

What is 2D Transformation
in Computer Graphics?
• Transformation means a change in the object's
orientation, size, and shape. They position the object,
change its shape, and even change how something is
viewed.
• Transformation plays a major role in computer
graphics, repositioning the graphics on the screen and
changing their size or orientation.
• The basic geometrical 2D Transformation
in Computer Graphics are:
• Translation
• Rotation
• Scaling
• The derivedStuff
geometrical transformation is:
• Reflection
• Shearing
INTRODUCTION TO COMPUTER GRAPHIC S

How Are Geometric

Transformations (T,R,S) Used
in Computer Graphics?
• Object construction using
assemblies/hierarchy of parts

“is composed of hierarchy”

ROBOT transformation

upper body lower body

stanchion base

head trunk arm

Stuff Scenegraph
(see Sceneview assignment)
INTRODUCTION TO COMPUTER GRAPHIC S

2D Object Definition (1/3)

Lines and Polylines
• Polylines: lines drawn between ordered points

• Same first and last point make closed polyline

or polygon
• If it does not intersect itself, called simple
polygon

Convex vs. Concave Polygons

Convex: For every pair of

points in the polygon, the
line between them is fully
contained in the polygon.
Stuff
Concave: Not convex: some
two points in the polygon are
joined by a line not fully
contained in the polygon.
INTRODUCTION TO COMPUTER GRAPHIC S

2D Object Definition (2/3)

Special polygons

triangle square

rectangle
Circles
• Consist of all points equidistant from one
predetermined point (the center)
• (radius) r = c, where c is a constant
P1
r y
r
StuffP0 0 x

• On a Cartesian grid with center of circle at

origin equation is r2 = x2 + y2
INTRODUCTION TO COMPUTER GRAPHIC S

2D Object Definition (3/3)

Circle as polygon
• Informally: a regular polygon with > 15 sides

(Aligned) Ellipses

A circle scaled along the x or y axis

6 6
5 5
4 4
3 3
2 2
1 1

0 0
1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8 9 10

Stuff
Example: height, on y-axis, remains 3, while length, on
x-axis, changes from 3 to 6
INTRODUCTION TO COMPUTER GRAPHIC S

2D to 3D Object Definition
Vertices in motion (“Generative object description”)
• Line is drawn by tracing path of a point as it
moves (one dimensional entity)

• Square drawn by tracing vertices of a line as it

moves perpendicularly to itself (two dimensional
entity)

• Cube drawn by tracing paths of vertices of a

square as it moves perpendicularly to itself
(three-dimensional entity)
Stuff
• Circle drawn by swinging a point at a fixed length
around a center point
INTRODUCTION TO COMPUTER GRAPHIC S

Building 3D Primitives

• Triangles and tri-meshes

• Often parametric polynomials, called splines

Curves Patches
Stuff
Boundaries are
Polynomial curves
In 3D
INTRODUCTION TO COMPUTER GRAPHIC S

Useful concepts from Linear

Algebra
You will need to understand these
concepts:
• 3D Coordinate geometry
• Vectors in 2 space and 3 space
• Dot product and cross product –
definitions and uses
• Vector and matrix notation and algebra
• Properties (associativity but NOT
commutativity)
• Matrix transpose and inverse – definition,
use, and calculation
• Homogeneous coordinates

Stuff
INTRODUCTION TO COMPUTER GRAPHIC S

Short Linear Algebra

Digression: Vector and Matrix
Notation, A non-Geometric
Example (1/2)
Let’s Go Shopping
• Need 6 apples, 5 cans of soup, 1 box of
tissues, and 2 bags of chips

• Stores A, B, and C (East Side Market, Whole

Foods, and Store 24) have following unit prices
respectively

1 can of 1 box of 1 bag of

1 apple soup tissues chips
East Side $0.20 $0.93 $0.64 $1.20
Whole Foods $0.65 $0.95 $0.75 $1.40
Store 24
Stuff
$0.95 $1.10 $0.90 $3.50
INTRODUCTION TO COMPUTER GRAPHIC S

A Non-Geometric Example (2/2)

• Shorthand to representation of the situation

(assuming we can remember order of items and
corresponding prices):

6 
• Column vector for quantities, q:5 
1 
 
 2

• Row vector corresponding prices at stores (P):

store A (East Side) [0.20 0.93 0.64 1.20]

store B (Whole Foods) [0.65 0.95 0.75 1.40]

Stuff
store C (Store 24) [0.95 1.10 0.90 3.50]
INTRODUCTION TO COMPUTER GRAPHIC S

What do I pay?

Let’s calculate for each of the three stores.

• Store A:
4

totalCostA =  PAiqi
i=1

= (0.20 • 6) + (0.93. • 5) + (0.64 • 1) + (1.20 • 2)

= (1.2 + 4.65 + 0.64 + 2.40)
= 8.89

• Store B:
4

totalCostB =  PBiqi = 3.9 + 4.75 + 0.75 + 2.8 = 12.2

i=1

• Store C:
Stuff 4
totalCostC =  PCiqi = 5.7 + 5.5 + 0.9 + 7 = 19.1
i=1
INTRODUCTION TO COMPUTER GRAPHIC S

Using Matrix Notation

• Can express these sums more compactly:

6 
 totalCost A 0.20 0.93 0.64 1.20  
P( All ) = totalCost B  = 0.65 0.95 0.75 1.40   
5
1 
totalCost C  0.95 1.10 0.90 3.50  
 2

• Determine totalCost vector by row-column

multiplication
– dot product is the sum of the pairwise
multiplications
• Apply this operation to rows of prices and
column of quantities

Stuff x 
y 
a b c d    = ax + by + cz + dw
z 
 
 w
INTRODUCTION TO COMPUTER GRAPHIC S

2D Translation
Y 6
Note: House
5  4 shifts position
 4 relative to origin
 
4

dx = 2 3

dy = 3 2
 2
1 1 
 
0
1 2 3 4 5 6 7 8 9 10
X

• Component-wise addition of vectors

x   x'  dx 
v’ = v + t where v =  , v' =  , t =  
 y  y ' dy 
and x’ = x + dx
y’ = y + dy
Stuff
To move polygons: translate vertices (vectors) and
redraw lines between them
• Preserves lengths (isometric)
• Preserves angles (conformal)
INTRODUCTION TO COMPUTER GRAPHIC S

2D Scaling
Y 6
Note: House
5 shifts position
sx = 3 4
relative to origin

sy = 2 3

2
6  9 
1  2 3  2  2
1  1    
   
0
1 2 3 4 5 6 7 8 9 10
X

• Component-wise scalar multiplication of vectors

x   x' 
v’ = Sv where v =  , v' =  
 y  y '

sx 0  x' = s x x
and S= 

Stuff0 s y y' = s y y

• Does not preserve lengths

• Does not preserve angles (except when scaling is
uniform)
INTRODUCTION TO COMPUTER GRAPHIC S

2D Rotation
Y 6
 Note: House
5 =
6 shifts position
4
relative to origin
3

1 

0
1 2 3 4 5 6 7 8 9 10
X
NB: A rotation by 0 angle, i.e. no rotation at all, gives us the identity matrix

• Rotation of vectors through an angle 

x   x' 
v’ = Rq v where v =  , v' =  
 y  y '

and x’ = x cos Ө – y sin Ө cos  − sin  

Stuff R = 
y’ = x sin Ө + y cos Ө sin  cos  

• Preserves lengths and angles

INTRODUCTION TO COMPUTER GRAPHIC S

2D Rotation and Scale are

Relative to Origin
• Suppose object is not centered at origin
• Solution: move to the origin, scale and/or
rotate, then move it back.

Stuff
• Would like to compose successive
transformations…
INTRODUCTION TO COMPUTER GRAPHIC S

Homogenous Coordinates
• Translation, scaling and rotation are expressed
(non-homogeneously) as:

translation: v’ = v + t
scale: v’ = Sv
rotation: v’ = Rv

• Composition difficult to express

– translation not expressed as a matrix
multiplication
• Homogeneous coordinates/projective coordinates
allows expression of all three as 3x3 matrices for
easy composition
P2 d ( x, y ) → Ph ( wx , wy , w), w  0
Ph ( x' , y ' , w), w  0
 x' y ' 
Stuff2 d
P ( x , y ) = P2d  , 
w w

• w is 1 for affine transformations in graphics

INTRODUCTION TO COMPUTER GRAPHIC S

x 
What is y
  ?
 w
• P2d is intersection of line determined by Ph with
the w = 1 plane

Ph (x,y,w)

1
P2d (x/w,y/w,1)

Y
Stuff
INTRODUCTION TO COMPUTER GRAPHIC S

Stuff

polynomial curve defined in homogeneous coordinates (blue)

and its projection on plane – rational curve (red)
INTRODUCTION TO COMPUTER GRAPHIC S

2D Homogeneous Coordinate
Transformations
• For points written in homogeneous coordinates,

x 
 y ,
 
1 

translation, scaling and rotation relative to the

origin are expressed homogeneously as:

Stuff
INTRODUCTION TO COMPUTER GRAPHIC S

Matrix Compositions: Using

Translation
• Avoiding unwanted translation when scaling or
rotating an object not centered at origin:
– translate object to origin, perform scale or
rotate, translate back.

House ( H ) T (dx, dy) H R( )T (dx, dy) H T (−dx,−dy) R( )T (dx, dy) H

• How would you scale the house by 2 in “its” y and

rotate it through 90° ?
House ( H ) S (1,2) H R( / 2) S (1,2) H

Stuff
• Remember: matrix multiplication is not
commutative! Hence order matters!
INTRODUCTION TO COMPUTER GRAPHIC S

Transformations are NOT

Commutative
Y 6

0
1 2 3 4 5 6 7 8 9 10
X
Translation → Rotation

Y 6

3
Stuff
2

0
1 2 3 4 5 6 7 8 9 10
X
Rotation → Translation
INTRODUCTION TO COMPUTER GRAPHIC S

3D Basic Transformations (1/2)

(right-handed coordinate system)
y

1 0 0 dx 
 1 0 dy 
• Translation 0
0 0 1 dz 
 
0 0 0 1

sx 0 0 0
Stuff  0 sy 0 0
• Scaling 0 0 sz 0
 
0 0 0 1
INTRODUCTION TO COMPUTER GRAPHIC S

3D Basic Transformations (2/2)

(right-handed coordinate system)
• Rotation about X-axis
1 0 0 0
0 cos  − sin  0

0 sin  cos  0
 
0 0 0 1

• Rotation about Y-axis

 cos  0 sin  0
 0 1 0 0

− sin  0 cos  0
 
 0 0 0 1

• RotationStuff
about Z-axis
cos  − sin  0 0
 sin  cos  0 0

 0 0 1 0
 
 0 0 0 1
INTRODUCTION TO COMPUTER GRAPHIC S

Skew/Shear/Translate (1/2)

• “Skew” a scene to the side:

 1 
1
Skew =  tan  
0 1 

• Squares become parallelograms - x coordinates
skew to right, y coordinates stay same
• 90° between axes becomes Ө
• Like pushing top of deck of cards to the side –
each card shifts relative to the one below
• Hmmm… Notice that the base of the house (at
y=1) remains horizontal, but shifts to the right…

Y 6

5

4 =
4
3

2
Stuff
1

0
1 2 3 4 5 6 7 8 9 10
X
NB: A skew of 0 angle, i.e. no skew at all, gives us the identity matrix, as it should
 INTRODUCTION TO COMPUTER GRAPHIC S

Skew/Shear/Translate (2/2)

• Everything along line y=1 stays on line y=1, but

translated to the right
• Distance between points on line is preserved
• A 1D homogeneous coordinate translation looks like
2D skew transformation

 1  1 dx 
• 1 tan     
0   0 1 
 1 

original y-axis
1 1
T = 
0 1

Stuff
 INTRODUCTION TO COMPUTER GRAPHIC S

Transforms in Scene Graphs (1/3)

• 3D scenes are often stored in a directed acyclic

graph (DAG) called a scene graph
– Open Scene Graph (used in the Cave)
– Sun’s Java3D
– X3D (aka VRML )

• Typical scene graph format:

– objects (cubes, sphere, cone, polyhedra etc.)
– stored as nodes (default: unit size at origin)
– attributes (color, texture map, etc.) and
transformations are also nodes in scene graph
(labeled edges on slide 2 are an abstraction)

Stuff
INTRODUCTION TO COMPUTER GRAPHIC S

Transforms in Scene Graphs (2/3)

Closer look at Scenegraph from slide 2 …

5. To get final scene

ROBOT

4. Transform subgroups

3. To make sub-groups upper body lower body

2. We transform them

Stuff stanchion base

head trunk arm

1. Leaves of tree are standard size object primitives

INTRODUCTION TO COMPUTER GRAPHIC S

Cukup Sekian

Stuff