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2D Geometrical Transformations: Foley & Van Dam, Chapter 5

The document discusses 2D geometric transformations including translation, scaling, rotation, shear, and their representation using matrix notation. Transformations can be combined through composition and represented as a single matrix. Homogeneous coordinates allow all transformations to be represented uniformly by matrix multiplication. Common transformations like translation, rotation, and scaling are demonstrated.

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Vincent Vetter
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54 views

2D Geometrical Transformations: Foley & Van Dam, Chapter 5

The document discusses 2D geometric transformations including translation, scaling, rotation, shear, and their representation using matrix notation. Transformations can be combined through composition and represented as a single matrix. Homogeneous coordinates allow all transformations to be represented uniformly by matrix multiplication. Common transformations like translation, rotation, and scaling are demonstrated.

Uploaded by

Vincent Vetter
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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2D Geometrical Transformations

Foley & Van Dam, Chapter 5

2D Geometrical Transformations
Translation

Scaling
Rotation
Shear
Matrix notation
Compositions
Homogeneous coordinates

2D Geometrical Transformations
Assumption: Objects consist of points and lines.
A point is represented by its Cartesian coordinates:
P = (x, y)
Geometrical Transformation:
Let (A, B) be a straight line segment between the
points A and B.
Let T be a general 2D transformation.
T transforms (A, B) into another straight line segment
(A, B), where:
A=TA and
B=TB

Translation
Translate(a, b): (x, y) (x+a, y+b)

Translate(2, 4)

Scale
Scale (a, b):

(x, y) (ax, by)

Scale (2, 3)

Scale (2, 3)

Scale
How can we scale an object without

moving its origin (lower left corner)?


Translate(-1,-1)

Translate(1,1)

Scale(2,3)

Reflection
Special case of scale
Scale(-1,1)

Scale(1,-1)

Rotation
Rotate():
(x, y) (x cos()+y sin(), -x sin()+y cos())
Rotate(90)

Rotate(90)

Rotation
How can we rotate an object without

moving its origin (lower left corner)?


Translate(-1,-1)

Translate(1,1)
Rotate(90)

Shear
Shear (a, b): (x, y) (x+ay, y+bx)
Shear(1,0)

Shear(0,2)

Classes of Transformations
Rigid transformation (distance preserving):
Translation + Rotation
Similarity transformation (angle preserving):
Translation + Rotation + Uniform Scale
Affine transformation (parallelism preserving):
Translation + Rotation + Scale + Shear
All above transformations
are groups where
Rigid Similarity Affine

Affine
Similarity
Rigid

Matrix Notation
Lets treat a point (x, y) as a 2x1 matrix
(column vector):
x
y

What happens when this vector is multiplied
by a 2x2 matrix?
a
c

b x
ax
=

d y
cx

+ by
+ dy

2D Transformations
2D object is represented by points and lines
that join them
Transformations can be applied only to the the
points defining the lines
A point (x, y) is represented by a 2x1 column
vector, so we can represent 2D transformations
by using 2x2 matrices:
b x
x '
a
y ' = c
y
d

Scale
Scale (a, b):
a
0

(x, y) (ax, by)


0 x
ax
=
by
b y

If a or b are negative, we get reflection


Inverse: S-1(a,b) = S(1/a, 1/b)

Reflection
Reflection through the y axis:
1
0

0
1

Reflection through the x axis:


1
0

0
1

Reflection through y = x:
0
1

1
0

Reflection through y = -x:


0
1

1
0

Shear
Shear (a, b): (x, y) (x+ay, y+bx)
1
b

a x
x + ay
=

1 y
y + bx

Rotation
Rotate():
(x, y) (x cos()+y sin(), -x sin()+y cos())

cos
sin

sin x x cos + y sin


=

cos y x sin + y cos

Inverse: R-1(q) = RT(q) = R(-q)

Composition of Transformations
A sequence of transformations can be
collapsed into a single matrix:
x
x
[ A ][B ][C ] = [D ]
y
y
Note: Order of transformations is important!
translate

rotate

rotate

translate

Translation
Translation (a, b):
x
y

x + a
y + b

Problem: Cannot represent translation


using 2x2 matrices
Solution:
Homogeneous Coordinates

Homogeneous Coordinates
Is a mapping from Rn to Rn+1:

( x , y ) ( X , Y , W ) = ( tx , ty , t )
Note: All triples (tx, ty, t) correspond to the
same non-homogeneous point (x, y)
Example (2, 3, 1) (6, 9, 3).
Inverse mapping:

( X ,Y ,W )

Y
,
W

Translation
Translate(a, b):
1
0

0
1
0

a
b
1

x
x + a
y = y + b

Inverse: T-1(a, b) = T(-a, -b)


Affine transformations now have the
following form:
a
c

b
d

e
f
1

Geometric Interpretation
A 2D point is mapped to a line (ray) in 3D
The non-homogeneous points are obtained
by projecting the rays onto the plane Z=1
W
Y
1

y
x

(X,Y,1)

(X,Y,W)

Example
Rotation about an arbitrary point
(x0,y0)

1. Translate the coordinates so that the origin is at (x0,y0)


2. Rotate by
3. Translate back
1
0

0
1
0

cos
= sin

x
y

0
1
0

cos
sin

sin
cos
0

sin
cos
0

0 1
0 0
1 0

( 1 cos ) + y
y 0 ( 1 cos ) x

0
0

0
1

x
y

sin
sin

0
0

x
y

1

x
y =

1

Example
Reflection about an arbitrary line
p2
p1

L = p1 + t (p2-p1) = t p2 + (1-t) p1

1. Translate the coordinates so that P1 is at the


origin
2. Rotate so that L aligns with the x-axis
3. Reflect about the x-axis
4. Rotate back
5. Translate back

Change of Coordinates
It is often required to transform the description of an
object from one coordinate system to another
Rule: Transform one coordinate frame towards the
other in the opposite direction of the representation
change
ion
R ep

tat
n
e
res

Tra

ion
t
a
rm
o
f
s
n

Example
Change of coordinates: Represent P = (xp, yp, 1)
in the (x, y) coordinate system

P ' = MP
Where:
M

cos

= sin

sin
cos
0

0
0
1

0
0

(x0, y0)

(xp, yp)

0
1
0

x
y
1

0
0

Example
Change of coordinates:
Alternative method: assume x = (ux, uy) and
y = (vx, vy) in the (x, y) coordinate system

P ' = MP

where
M

u x

= v x
0

y
(vx, vy)

0 1

0 0
1 0

y
(ux, uy)

x
(x0, y0)

Example
Reflection about an arbitrary line
p2

L = p1 + t (p2-p1) = t p2 + (1-t) p1

p1

Define a coordinate systems (u, v) parallel to


P1P2:
p2 p1
u x
u =

p1

u
v =
u

M = 0
0

0
1
0

p 1x
p 1y
1

u x

u y
0

vx
vy
0

y
x

0 1

0 0
0

= v

0
1
0

y
x
y

0 u x
0 v x
1 0

uy
vy
0

0 1

0 0
1 0

0
1
0

p 1x
p 1y
1

3D Viewing Transformation Pipeline


Viewing coordinates
World Coordinates

Object in World

D
2
:
D

ing
p
ap

2D:2D mapping

Viewport

Device Coordinates

World to Viewing Coordinates


In order to define the viewing window we have to
specify:
Windowing-coordinate origin P0 = (x0,y0)
View vector up v = (vx,vy)
Using v, we can find u: u = v x (0,0,1)
yv

y world

ie w

(x0,y0)x v

(vx,vy).
ie w

x world

(ux,uy).

Transformation from world to viewing coordinates :


M

wc vc

ux

= vx
0

uy
vy
0

0 1

0 0
1 0

0
1
0

x0
y 0
1

Window to Viewport Coordinates


(xmax,ymax)
(xmin,ymin)
Window translated to origin

Window is Viewing Coordinates


(umaxn,vmaxn)

(umin,vmin)
Window scaled and translated to
Viewport location in device coordinates

1 0 u min u max u min

0
M vc dc= 0 1 v min
0 0
1
0

0
v max v min
0

0 x max

Window scaled to Normalized


Viewport size

1
x min
0
0

0
y max

1
y min
0

0
1
0 0

1 0

0
1
0

x min

y min
1

Normalized Device Coordinates

Efficiency Considerations
A 2D point transformation requires 9 multiplies and 6
adds
a
d

b
e
h

c
f
i

x
ax + by + cz
y = d x + e y + fz

z
g x + h y + i z

But since affine transformations have always the form:


b
c x
a
ax + by + c
d

f y = dx + ey + f
e

0
1 1
1
The number of operations can be reduced to 4
multiplies and 4 adds

Efficiency Considerations
The rotation matrix is:

cos
sin

sin x x cos + y sin


=

cos y x sin + y cos

When rotating of small angles , we can use the fact


that cos() 1 and simplify

sin

sin x x + y sin
=

1 y x sin + y

Determinant of a Matrix

a
c

b
= ad bc
d

aei + bfg + cdh ceg afh bdi

+c

If P is a polygon of area AP, transformed by a matrix


M, the area of the transformed polygon is AP|M|

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