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2-D Geometry: Transformations

1) Homogeneous coordinates allow points at infinity to be represented using an extra dimension, by treating (a,0) as an infinite point. Polynomial equations can then be made homogeneous by introducing an extra variable w. 2) Geometric transformations include translation, rotation, and scaling. Translation moves an object by adding offsets to x and y coordinates. Rotation repositions an object along a circular path defined by an angle and pivot point. Scaling enlarges or shrinks an object by multiplying coordinates by scaling factors. 3) Homogeneous coordinates (x,y,w) can be converted to Cartesian (x/w, y/w) by dividing coordinates by w. Conversely, a Cartesian point (x,

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Sumit Kumar Vohra
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57 views

2-D Geometry: Transformations

1) Homogeneous coordinates allow points at infinity to be represented using an extra dimension, by treating (a,0) as an infinite point. Polynomial equations can then be made homogeneous by introducing an extra variable w. 2) Geometric transformations include translation, rotation, and scaling. Translation moves an object by adding offsets to x and y coordinates. Rotation repositions an object along a circular path defined by an angle and pivot point. Scaling enlarges or shrinks an object by multiplying coordinates by scaling factors. 3) Homogeneous coordinates (x,y,w) can be converted to Cartesian (x/w, y/w) by dividing coordinates by w. Conversely, a Cartesian point (x,

Uploaded by

Sumit Kumar Vohra
Copyright
© Attribution Non-Commercial (BY-NC)
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Download as PPT, PDF, TXT or read online on Scribd
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2-D Geometry

TRANSFORMATIONS

1
Some geometrical concepts
Cartesian Coordinates: Characterized by
•An axis of abscissae (x axis)
•An axis of ordinates (y axis)
•An Origin; intersection of x with y
A point on the plane is characterised by a
pair of real numbers P(x,y)
Y

a P (x,y)
x
i
s
X axis 2
Homogeneous Coordinates
The purpose of using homogeneous coordinates is to capture
the concept of infinity as we can’t represent the infinity with the
conventional Cartesian system.
We use two numbers a and w to represent a value v, v=a/w. If
w is not zero, the value is exactly a/w. Otherwise, we identify the
infinite value with (a,0). Therefore, the concept of infinity can be
represented with a number pair like (a, w).
Given a polynomial of degree n, after introducing w, all terms
are of degree n. Consequently, these polynomials are called
homogeneous polynomials and the coordinates (x,y,w) the
homogeneous coordinates.

3
For example
Suppose we have a line
Ax + By + C = 0.
Replacing x and y with x/w and y/w yields
A(x/w) + B(y/w) + C = 0.
Multiplying by w changes it to
Ax + By + Cw = 0.
Similarly, let the given equation be a second degree polynomial
Ax2 + 2Bxy + Cy2 + 2Dx + 2Ey + F = 0.
After replacing x and y with x/w and y/w and multiplying the
result with w2, we have
Ax2 + 2Bxy + Cy2 + 2Dxw + 2Eyw + Fw2 = 0 4
Converting Homogeneous to Cartesian

• Given a point (x,y,w) in homogeneous coordinates, its


corresponding point in the xy-plane is (x/w,y/w).
e.g. a point (3,4,5) in homogeneous coordinates
converts to point (3/5,4/5)=(0.6,0.8) in the xy-plane.
• Similarly, a point (x,y,z,w) in homogeneous coordinates
converts to a point (x/w,y/w,z/w) in space.
• Conversely, the homogeneous coordinates of a point
(x,y) in the xy-plane is simply (x,y,1). It is not unique. The
homogeneous coordinates of a point (x,y) in the xy-plane
is (xw, yw, w) for any non-zero w.
• Converting from a homogeneous coordinates to a
conventional one is unique; but, converting a
conventional coordinates to a homogeneous one is not.5
Transformation
It is the simulation of the manipulation of objects
in space by a graphics system is known as
Or
It is altering the coordinate description of an object
by changing orientation, size and shape of it.
Why are they important to graphics?
• moving objects on screen / in space
• mapping from model space to world space to
camera space to screen space
• specifying parent/child relationships
6
There are 2 types of transformation

Geometric – Object is transformed relative to


stationary coordinates.

Coordinate – Object is stationary and


coordinate system is transformed.

7
Geometric transformation
The basic geometric transformations are
Translation, Rotation and Scaling

Translation
A translation is applied to an object by
repositioning it along a straight line
path from one coordinate location to
another. We can translate a 2-D point ty
by adding translation distances tx and
ty to the original coordinate position
(x,y) to move the point to new position tx
(x’,y’) i.e.
x’ = x + tx & y’ = y + ty 8
The translation distance pair (tx,ty) is called
translation vector or shift vector
In Matrix form it can be written as follow
P= x P’= x’ T = tx
y y’ ty

P’=P + T
To change the position of a circle or ellipse,
we translate the center coordinates and
redraw the figure at new location
Translation is a rigid body transformation
9
Rotation
Rotation is applied to an object by
repositioning it along a circular path in the xy
plane. We specify a rotation angle and the
position of the rotation point (called pivot
point) about which the object is to be rotated.
+ve values of angle define counterclockwise
rotations
-ve values of angle define clockwise rotation.

10
Using trigonometric identities,
we can represent tranformed
coordinate as follow P’
X’= rcos(Θ+ Φ) (x’,y’)
= r cosΘcos Φ – r sinΘsinΦ
r P
Y’=rsin(Θ+ Φ) r
Θ (x,y)
= r cosΦsinΘ + r cosΘsinΦ Φ
Also
X= rcosΦ and Y=rsinΦ
Therefore
X’ = xcosΘ – ysinΘ
Y’= xsinΘ + ycosΘ 11
In matrix form P’
(x’,y’)
P’=R.P
r P
Where R = cosΘ -sinΘ r
Θ (x,y)
sinΘ cosΘ Φ
(Xr,yr)

Rotation of a point about an arbitrary pivot


position is given as
X’=xr + (x-xr)cosΘ – ( y-yr)sinΘ
Y’=yr + (x-xr)sinΘ + (y-yr)cosΘ
12
Rotation is a rigid body transformation
Scaling
A scaling transformation alter the size of an
object
The operation
can be carried
out by multiplying
coordinate
values by scaling
factor.
X’ = x.sx and Y’ = y.sy
X’ = sx 0 x
Y’ 0 sy y 13
Uniform scaling : when both sx
and sy have same value
Differential scaling : when both
sx and sy have different values.

14

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