Graphics Rendering Pipeline

Modeling Viewing
Transformation Transformation
Model 1
M1

Model 2 M2 3DWorld V 3D View

Scene Scene
Mn
Model n

2D
Image
2D Scene Projection
Rasterization
 2D Transformation
Scaling

P ( x , y ) → P' ( x' , y ' )

x' = s x x; y ' = sy y
s x 0 
[x , y ] = [x, y ] 
' '

 0 s y 
P ' = P .S
 2D Transformation
Scaling

P ( x , y ) → P' ( x' , y ' )

x' = s x x; y ' = sy y
s x 0 
[x , y ] = [x, y ] 
' '

 0 s y 
P ' = P .S
s x = s y : uniform scaling
s x ≠ s y : differential scaling
 2D Transformation
Rotation
P ( x , y ) → P' ( x' , y ' )
x = r cos(ö ); y = r sin(ö )
x ' = r cos(ö + è ) P’
y ' = r sin(ö + è )
θ P
x ' = x cos(è ) − y sin(è ) φ
y ' = x sin(è ) + y cos(è )
 cos(è ) sin(è ) 
[x ,y ] = [x,y ] 
' '

 − sin( è ) cos(è ) 
P ' = P .Rè
 2D Transformation
General 2x2 Matrix

X → X'
X ' = X .T
a b 
[x , y ] = [x, y ] 
' '
 = [(ax + cy ), (bx + dy )]
c d 

If a = d = 1 and b = c = 0
T = Identity Matrix
X’ = X
 2D Transformation
General 2x2 Matrix

If b = c = 0 y
X’ = [ax, dy] : Scaling
P’ P
If b = c = 0 and a = -1, d = 1
X’ = [-x, y] : Reflection

x
 2D Transformation
General 2x2 Matrix

 1 0
[x , y ] = [x, y ] 
' '
 = [ x + cy , y ] Shearing in X
c 1
 2D Transformation
General 2x2 Matrix

1 b
[x , y ] = [x, y ] 
' '
 = [ x , bx + y ] Shearing in Y
0 1 
 2D Transformation
Translation

P(x , y ) → P ' (x ' , y ' ) P’

x ' = x + tx ;y ' = y + ty
P
P = P +T
' T
P = [ x , y ]; T = [t x , t y ]
 2D Transformation
Homogenous Coordinates

Scale/Rotate/Reflect/Shear: X’ = XT
Translate: X’ = X + T
P = [x, y ]
Ph = [ x , y , w ]

Multiple values for the same point

e.g., (2, 3, 6) and (4, 6, 12) are same points
 2D Transformation
Homogenous Coordinates

w (x, y,w)

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

y
 2D Transformation
Homogenous Coordinates

Unifying representation for transformation

Transformation matrix from 2x2 to 3x3

X → X'
X ' = X .T
a b 0
[ x ' , y ' , w ] = [ x , y ,1] c d 0
 
 l m 1
= [(ax + cy + l ), (bx + dy + m ),1]
 2D Transformation
Homogenous Coordinates

Translation
1 0 0
T = 0 1 0
 
 l m 1
X ' = XT
[x', y ' ] = [ x + l, y + m]
 2D Transformation
Homogenous Coordinates

Scaling/Rotation/Shear

a b 0
T = c d 0
 
0 0 1
 2D Transformation
Homogenous Coordinates
Successive translations: T1 = (l1, m1), T2 = (l2, m2)
After T1 After T1 and T2
1 0 0 1 0 0
X' = X 0 1 0 X'' = X'  0 1 0
   
l1 m1 1 l 2 m2 1
1 0 0  1 0 0  1 0 0
X'' = X  0 1 0  0 1 0 = X  0 1 0
    
l1 m1 1 l 2 m2 1 l1 + l 2 m1 + m2 1
Successive translations are additive
 2D Transformation
Homogenous Coordinates
Successive scaling: S1 = (sx1, sy1), S2 = (sx2, sy2)
After S1 After S1 and S2
s x1 0 0 s x 2 0 0
X' = X  0 s y 1 0 X'' = X'  0 sy 2 0
   
 0 0 1  0 0 1
 s x 1 0 0  s x 2 0 0  s x 1s x 2 0 0
X'' = X  0 s y 1 0  0 sy 2 0 = X  0 s y 1s y 2 0
    
 0 0 1  0 0 1  0 0 1
Successive scaling is multiplicative
 2D Transformation
Homogenous Coordinates
Successive rotations: R(θ), R(φ)
After R(θ) After R(θ) and R(φ)
 cos è sin è 0  cos ö sin ö 0
X' = X − sin è cos è 0 X'' = X' − sin ö cos ö 0
   
 0 0 1  0 0 1
 cos(è + ö ) sin(è + ö ) 0
X'' = X  − sin(è + ö ) cos(è + ö ) 0
 
 0 0 1
Successive rotations are additive
 2D Transformation
Composition of transformation
Rotation about arbitrary point y

Rotation about origin is known

• Translate such that P becomes O P

• Rotate (about O)
• Translate back to P O x
 2D Transformation
Composition of transformation
Rotation about arbitrary point y

Rotation about origin is known

P
• Translate such that P becomes O
O x
1 0 0
 
X' = X  0 1 0
− l −m 1
 2D Transformation
Composition of transformation
Rotation about arbitrary point y

Rotation about origin is known

• Rotate about O
O x
 cos è sin è 0
X'' = X' − sin è cos è 0
 
 0 0 1
 2D Transformation
Composition of transformation
Rotation about arbitrary point y

Rotation about origin is known

P
• Translate back to P
O x
1 0 0
 
X''' = X'' 0 1 0
 l m 1
 2D Transformation
Composition of transformation
Composite transformation

1 0 0  cos è sin è 0  1 0 0
   
Xf = X  0 1 0  − sin è cos è 0 0 1 0
 − l −m 1  0 0 1  l m 1

 cos è sin è 0
= X − sin è cos è 0
 
 − m (cos è − 1) + n sin è − n(cos è − 1) − m sin è 1
 2D Transformation
Composition of transformation
Reflection about an arbitrary line
B
y
C
A

O x
 2D Transformation
Composition of transformation
Reflection about an arbitrary line

y
B
Translation C
A

O x
 2D Transformation
Composition of transformation
Reflection about an arbitrary line

y
Rotation B

A C

O x
 2D Transformation
Composition of transformation
Reflection about an arbitrary line

y
Reflection

O x
A C

B
 2D Transformation
Composition of transformation
Reflection about an arbitrary line

y
Rotation

O A x
B
 2D Transformation
Composition of transformation
Reflection about an arbitrary line

y
Translation
C

A
O B x
 2D Transformation
Composition of transformation

Given T1 and T2

In general,
T = T1T2 ≠ T2T1
 2D Transformation
Rigid Transformations
• Square remains square
• Preserves length and angles
• Sequence of rotations and translations

 r11 r12 0
T = r21 r22 0
 
 l m 1
 2D Transformation
Affine Transformations

• Preserves parallelism
• Sequence of rotations, translations, scaling and shear

a b 0 
T = c d 0
 
 l m 1

• Linear transformation is when no translation

 2D Transformation
General Transformation

• 3x3 matrix

a b p 
T = c d q 
 
 l m s 