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2 Dtransform

The document discusses 2D transformations and homogeneous coordinates. It introduces translations, scaling, and rotations in 2D and expresses them using vector and matrix notation. It then presents homogeneous coordinates as a consistent way to represent all transformations and their composition using matrix multiplication. Finally, it discusses how transformations are used to convert between model and window coordinates.

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okuwobi
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7 views

2 Dtransform

The document discusses 2D transformations and homogeneous coordinates. It introduces translations, scaling, and rotations in 2D and expresses them using vector and matrix notation. It then presents homogeneous coordinates as a consistent way to represent all transformations and their composition using matrix multiplication. Finally, it discusses how transformations are used to convert between model and window coordinates.

Uploaded by

okuwobi
Copyright
© © All Rights Reserved
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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2D transformations and

homogeneous coordinates
Dr Nicolas Holzschuch
University of Cape Town
e-mail: [email protected]

Modified by Longin Jan Latecki


[email protected]
Map of the lecture
• Transformations in 2D:
– vector/matrix notation
– example: translation, scaling, rotation
• Homogeneous coordinates:
– consistent notation
– several other good points (later)
• Composition of transformations
• Transformations for the window system
Transformations in 2D
• In the application model:
– a 2D description of an object (vertices)
– a transformation to apply
• Each vertex is modified:
• x’ = f(x,y)
• y’ = g(x,y)
• Express the modification
Translations
• Each vertex is modified:
• x’ = x+tx
• y’ = y+ty

Before After
Translations: vector notation
• Use vector for the notation:
– makes things simpler
• A point is a vector: x 

y 

• A translation is merely a vector sum:
P’ = P + T
Scaling in 2D
• Coordinates multiplied by the scaling
factor:
• x’ = sx x
• y’ = sy y

Before After
Scaling in 2D, matrix notation
• Scaling is a matrix multiplication:
P’ = SP

x  sx 0 x 


     
y  0 sy y 
Rotating in 2D
• New coordinates depend on both x and y
• x’ = cosx - sin y
• y’ = sinx + cos y

Before After
Rotating in 2D, matrix notation
• A rotation is a matrix multiplication:
P’=RP

x  cos   sin  x 


y  sin  
cos  y 
  
2D transformations, summary
• Vector-matrix notation simplifies writing:
– translation is a vector sum
– rotation and scaling are matrix-vector
multiplication
• I would like a consistent notation:
– that expresses all three identically
– that expresses combination of these also
identically
• How to do this?
Homogeneous coordinates
• Introduced in mathematics:
– for projections and drawings
– used in artillery, architecture
– used to be classified material (in the 1850s)
• Add a third coordinate, w x 
• A 2D point is a 3 coordinates vector: y 
 

w 

Homogeneous coordinates (2)
• Two points are equal if and only if:
x’/w’ = x/w and y’/w’= y/w
• w=0: points at infinity
– useful for projections and curve drawing
• Homogenize = divide by w.
• Homogenized points: x 
y 
 

1 

Translations with homogeneous
x  1
y  0
0 t x x 
     t x
x 
w 
x
w
  
1 ty y
   y
   t y

w 
 
0 0 1 
w
 y 
w  w

x  x  wt x

y  y  wt y

w  w
Scaling with homogeneous
x  sx
y  0
0 0x 
    s
x 
w 
x
x w
   sy 0y 
 y
  s

w 
 
0 0 1

w 
 y 
w  y w
x  sx x

y  sy y

w  w
Rotation with homogeneous
x  cos   sin  0x 
y  sin  cos  0y 
     xw cos  wx  sin  y

w 
 
 0 0 1

w 
 y 
w

w  sin  w  cos 


x y
w

x  cos x  sin  y



y  sin x  cos  y

w  w
Composition of transformations
• To compose transformations, multiply
the matrices:
– composition of a rotation and a translation:
M = RT
• all transformations can be expressed as
matrices
– even transformations that are not
translations, rotations and scaling
Rotation around a point Q
• Rotation about a point Q:
– translate Q to origin (TQ),
– rotate about origin (R)
– translate back to Q (- TQ).

P’=(-TQ)RTQ P
Beware!
• Matrix multiplication is not commutative
• The order of the transformations is vital
– Rotation followed by translation is very different
from translation followed by rotation
– careful with the order of the matrices!
• Small commutativity:
– rotation commute with rotation, translation with
translation…
From World to Window
• Inside the application:
– application model
– coordinates related to the model
– possibly floating point
• On the screen:
– pixel coordinates
– integer
– restricted viewport: umin/umax, vmin/vmax
From Model to Viewport
ymax

ymin

xmin xmax
From Model to Viewport
• Model is (xmin,ymin)-(xmax,ymax)
• Viewport is (umin,vmin)-(umax,vmax)
• Translate by (-xmin,-ymin)
• Scale by ( xmax-xmin
umax-umin
, vmax-vmin )
ymax-ymin
• Translate by (umin,vmin)

M = T’ST
From Model to Viewport

Pixel Coordinates Model Coordinates


u  x 
v  M y 
   

w 
 
w 

Mouse position: inverse problem
• Mouse click: coordinates in pixels
• We want the equivalent in World
Coord
– because the user has selected an object
– to draw something
– for interaction
• How can we convert from window
coordinates to model coordinates?
Mouse click: inverse problem
• Simply inverse the matrix:
1 1
M  (T ST )
Model Coordinates
Pixels coordinates
x  u 
y  M 1 v 
   

w 
 
w

2D transformations: conclusion
• Simple, consistent matrix notation
– using homogeneous coordinates
– all transformations expressed as matrices
• Used by the window system:
– for conversion from model to window
– for conversion from window to model
• Used by the application:
– for modeling transformations

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