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Tranformation

The document discusses geometric transformations and homogeneous coordinates. It introduces basic transformations like translation, rotation, and scaling. It explains how homogeneous coordinates allow geometric transformations to be represented as 3x3 matrices. This allows multiple transformations to be combined through matrix multiplication. The document provides examples of composite transformations through sequences of translate-rotate-translate and translate-scale-translate operations.

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keerthi
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61 views18 pages

Tranformation

The document discusses geometric transformations and homogeneous coordinates. It introduces basic transformations like translation, rotation, and scaling. It explains how homogeneous coordinates allow geometric transformations to be represented as 3x3 matrices. This allows multiple transformations to be combined through matrix multiplication. The document provides examples of composite transformations through sequences of translate-rotate-translate and translate-scale-translate operations.

Uploaded by

keerthi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Geometric

Transformations
Geometric Transformations
 Basic transformations:
 Translation
 Scaling
 Rotation
 Purposes:
 To move the position of objects
 To alter the shape / size of objects
 To change the orientation of objects
Homogeneous Coordinates
 A point (x,y) can be re-written in homogeneous
coordinates as (xh, yh, h)
 The homogeneous parameter h is a non-zero value
such that:
xh yh
x y
h h

 We can then write any point (x,


y) as (hx, hy, h)
 We can conveniently choose h = 1 so that
(x, y) becomes (x, y, 1)
Why Homogeneous Coordinates?

 Mathematicians commonly use homogeneous


coordinates as they allow scaling factors to be
removed from equations
 All the transformations previously defined can be
represented as 3*3 matrices
 Using homogeneous coordinates allows us use
matrix multiplication to calculate transformations
– extremely efficient!
Homogenous Coordinates

 Combine the geometric transformation into a single matrix with 3by3 matrices
 Expand each 2D coordinate to 3D coordinate with homogenous parameter
 Two-Dimensional translation matrix

 x'   1 0 t x   x 
     
y '
    0 1 t y   y
 1  0 0 1  1
 Two-Dimensional rotation matrix
x' cos   cos  0 x 
     
y'   sin cos  0  y 
 1   0 0 1 1

 Two-Dimensional scaling matrix


x' s x 0 0  x 
     
 y'    0 sy 0   y 
 1   0 0 1  1
Inverse transformations

 Inverse translation matrix


1 0  t x 
 
T 1  0 1  t y 
0 0 1 

 Two-Dimensional Rotation matrix


 cos  sin 0
 
R 1   sin cos  0
 0 0 1

 Two-Dimensional Scaling matrix


 1 
s 0 0
 x 
0 0
1
S 1
 sx 
0 0 1
 
 
Basic 2D Transformations

 Basic 2D transformations as 3x3 Matrices


 x  1 0 tx  x   x   sx 0 0  x 
 y  0 1 ty  y   y  0 sy 0  y 
         
1  0 0 1  1  1  0 0 1  1 
Translate Scale

 x  cos  sin  0   x 
 y  sin  cos 0  y
    
1  0 0 1  1 

Rotate
Matrix Concatenation Properties

 Associative properties
A  B  C  A  (B  C )  ( A  B )  C

 Transformation product is not commutative .


(i.e) A.B is not equal to B.A
Two-dimensional composite transformation

 Composite transformation
 A sequence of transformations
 Calculate composite transformation matrix rather
than applying individual transformations
P'  M2  M1  P
P'  M  P
 Composite two-dimensional translations
 Apply two successive translations, T1 and T2
T1  T (t1x , t1 y )
T2  T (t 2 x , t2 y )
P'  T2  (T1  P)  (T2  T1 )  P
 Composite transformation matrix in coordinate form
T( t 2 x , t 2 y )  T( t 1x , t 1y )  T( t 1x  t 2 x , t 1y  t 2 y )
Two-dimensional composite transformation (2)

 Composite two-dimensional rotations


 Two successive rotations, R1 and R2 into a point P
P'  R(1 )  {R( 2 )  P}
P'  {R(1 )  R( 2 )}  P

 Multiply two rotation matrices to get composite transformation


matrix
R(1 )  R( 2 )  R(1   2 )
P'  R(1   2 )  P
 Composite two-dimensional scaling

S(s1x , s1y )  S(s 2 x , s 2 y )  S(s1x  s 2 x , s1y  s 2 y )


P'  S(s1x  s 2 x , s1y  s 2 y )  P
Two-dimensional composite transformation

 General two-dimensional Pivot-point rotation


 Graphics package provide only origin rotation
 Perform a translate-rotate-translate sequence
 Translate the object to move pivot-point position to origin
 Rotate the object
 Translate the object back to the original position

 Composite matrix in coordinates form

T( x r , y r )  R( )  T(x r ,y r )  R( x r , y r , )


Two-dimensional composite transformation (4)

 Example of pivot-point rotation


Pivot-Point Rotation

(xr,y (xr,y (xr,y (xr,y


r) r) r) r)

Translate Rotate Translate

T xr , yr  R  T  xr , yr   Rxr , yr , 


1 0 x r  cos   sin  0 1 0  x r  cos   sin  x r (1  cos  )  y r sin  
0 1 y    sin  cos  0  0 1  y    sin  cos  y (1  cos  )  x sin  
 r    r  r r 
0 0 1   0 0 1 0 0 1   0 0 1 
Two-dimensional composite transformation (5)

 General two-dimensional Fixed-point scaling


 Perform a translate-scaling-translate sequence
 Translate the object to move fixed-point position to origin
 Scale the object wrt. the coordinate origin
 Use inverse of translation in step 1 to return the object
back to the original position
 Composite matrix in coordinates form
T( x f , y f )  S(s x , s y )  T(  x f , y f )  S( x f , y f , s x , s y )
Two-dimensional composite transformation (6)

 Example of fixed-point scaling


General Fixed-Point Scaling

(xr,y (xr,y (xr,y (xr,y


r) r) r) r)

Translate Scale Translate

T x f , y f  S s x , s y  T  x f , y f   S x f , y f , s x , s y 
1 0 xf  s x 0 0 1 0  x f   s x 0 x f (1  s x ) 
0 1 yf 0 sy 0  0 1  y f    0 sy y f (1  s y )
  
0 0 1   0 0 1 0 0 1   0 0 1 
Two-dimensional composite transformation (7)

 General two-dimensional scaling directions


 Perform a rotate-scaling-rotate sequence
 Composite matrix in coordinates form

R 1( )  S(s1, s 2 )  R( )


s1 cos 2   s 2 sin2  (s 2  s1 ) cos  sin 0
 
  (s 2  s1 ) cos  sin s1 sin2   s 2 cos 2  0
 0 0 1

s1


s2
General Scaling Directions

 Converted to a parallelogram
y y
(1/2,3/2) (2,2)
(0,1) (1,1)

(3/2,1/2)
(0,0) (1,0) x (0,0) x

Scale
 s1 cos 2   s2 sin 2  ( s2  s1 ) cos sin  0 y s2
 
R 1 ( )  S ( s1 , s2 )  R( )   ( s2  s1 ) cos sin  s1 sin 2   s2 cos 2  0
 0 0 1  xs
 1

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