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Affine Geometry

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37 views26 pages

Affine Geometry

Uploaded by

dr.mohamedabdelhameedali
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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Affine Geometry

Jehee Lee
Seoul National University
Geometric Programming

• A way of handling geometric entities such as vectors,


points, and transforms.

• Traditionally, computer graphics packages are


implemented using homogeneous coordinates.

• We will review affine geometry and coordinate-invariant


geometric programming.

• Because of historical reasons, it has been called


“coordinate-free” geometric programming
Example of coordinate-dependence

Point p

Point q

• What is the “sum” of these two positions ?


If you assume coordinates, …

p = (x1, y1)

q = (x2, y2)

• The sum is (x1+x2, y1+y2)


– Is it correct ?
– Is it geometrically meaningful ?
If you assume coordinates, …

p = (x1, y1)

(x1+x2, y1+y2)

q = (x2, y2)

Origin

• Vector sum
– (x1, y1) and (x2, y2) are considered as vectors from the origin to p
and q, respectively.
If you select a different origin, …

p = (x1, y1)
(x1+x2, y1+y2)

q = (x2, y2)

Origin

• If you choose a different coordinate frame, you will get a


different result
Vector and Affine Spaces
• Vector space
– Includes vectors and related operations
– No points

• Affine space
– Superset of vector space
– Includes vectors, points, and related operations
Points and Vectors

vector (p-q) Point q

Point p

• A point is a position specified with coordinate values.


• A vector is specified as the difference between two points.
• If an origin is specified, then a point can be represented by a vector
from the origin.
• But, a point is still not a vector in coordinate-free concepts.
Vector spaces

• A vector space consists of


– Set of vectors, together with
– Two operations: addition of vectors and multiplication
of vectors by scalar numbers

• A linear combination of vectors is also a vector

u 0 , u1 ,  , u N  V  c0 u 0  c1 u1    c N u N  V
Affine Spaces
• An affine space consists of
– Set of points, an associated vector space, and
– Two operations: the difference between two points
and the addition of a vector to a point
Coordinate-Free Geometric Operations
• Addition
• Subtraction
• Scalar multiplication
• Linear combination
• Affine combination
Addition

p+w

u+v v w

u
p

u + v is a vector p + w is a point

u, v, w : vectors
p, q : points
Subtraction

p p-w

u u-v p-q -w

v
q p

u - v is a vector p - q is a vector p - w is a point

u, v, w : vectors
p, q : points
Scalar Multiplication
scalar • vector = vector
1 • point = point
0 • point = vector
c • point = (undefined) if (c≠0,1)
Linear Combination
• A linear space is spanned by a set of bases
– Any point in the space can be represented as a linear
combination of bases

c v
i 0
i i c0 v 0  c1 v1    c N v N v
Affine Combination
N

c p
i 0
i i c0p 0  c1p1    c N p N
N N
( ci )p 0   ci (p i  p 0 )
i 0 i 1
Example
• (p + q) / 2 : midpoint of line pq

• (p + q) / 3 : Can you find a geometric meaning ?

• (p + q + r) / 3 : center of gravity of ∆pqr

• (p/2 + q/2 – r) : a vector from r to the midpoint of


q and p
Affine Frame
• A frame is defined as a set of vectors {vi | i=1, …, N}
and a point o
– Set of vectors {vi} are bases of the associate vector
space
– o is an origin of the frame
– N is the dimension of the affine space
– Any point p can be written as
p o  c1 v1  c2 v 2    c N v N

– Any vector v can be written as


v c1 v1  c2 v 2    c N v N
Barycentric Coordinates
• Any point p can be written as
p o  c1 v1  c2 v 2    c N v N

• Letting {qi | i=0,1,…,N} be


– q0 = o, and
– qi = o + vi for i=1, …, N.

p (1  c1    c N )o  c1 (o  v1 )    c N (o  v N )
(1  c1    c N )q 0  c1q1    c N q N
c0q 0  c1q1    c N q N
Summary
Matrix Representation
• Use an “extra” coordinate
– In 3-dimensional spaces
• Point : (x, y, z, 1)
• Vector : (x, y, z, 0)
• For example
(x1, y1, z1, 1) + (x2, y2, z2, 1) = (x1+x2, y1+y2, z1+z2, 2)
point point undefined

(x1, y1, z1, 1) - (x2, y2, z2, 1) = (x1-x2, y1-y2, z1-z2, 0)


point point vector

(x1, y1, z1, 1) + (x2, y2, z2, 0) = (x1+x2, y1+y2, z1+z2, 1)


point vector point
Projective Spaces
• Homogeneous coordinates
– (x, y, z, w) = (x/w, y/w, z/w, 1)
– Useful for handling perspective projection

• But, it is algebraically inconsistent !!

1
(1,0,0,1)  (1,1,0,1) (2,1,0,2) (1, ,0,1)
2

2
(1,0,0,1)  (2,2,0,2) (3,2,0,3) (1, ,0,1)
3
OpenGL Programming
• OpenGL ( gl ) is a common graphics library
which provides functions for drawings and
interactive input.
• OpenGL is accessible via C or C++ programs
• http://www.opengl.org

• OpenGL basic (core) library


– Functions, symbols, and types
glBegin, glClear, glCopyPixels, glPolygonMode
GL_2D, GL_RGB, GL_POLYGON
Glbyte, Glshort, Glint, Glfloat, Gldouble
Related Libraries
• OpenGL Utility (GLU)
– Setting up viewing and projection matrices
– Complex objects
• Line and polygon approximations
• Displaying quadrics, B-splines
– Prefix glu

• OpenGL Utility Toolkit (GLUT)


– Support any screen-windowing system
An Example of Open GL
• Initialize OpenGL and GLUT
• Initialize a drawing window
• Draw a line segment

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