GeometricTransformations

EricC.McCreath
SchoolofComputerScience
TheAustralianNationalUniversity
ACT0200Australia
ericm@cs.anu.edu.au

Overview

BasicGeometricTransformation

HomogeneousCoordinates

RasterTransformations

Graphics2DAffineTransformDemo

Transformations

Transformationsareusefulformodellingandviewingascene.

Modellingtransformationsareusedtoconstructascene.

Geometrictransformationsareusedformovingobjectswithinthe
sceneandcontrolingtheviewingofthoseobjects.

Suchtransformationsareusefulandpowerfultoolsforcomputer
graphicsapplications,however,attimestheycanbetrickytoget
workingproperly.

Translation

Translationprovidesasimplewayofrepositioningobjects.
Newpoint

Originalpoint

[]

P n= P o t x
ty

[]
tx
ty

Rotation

Rotationabouttheorigin.
P n=

cos sin
P
sin cos o

x
Note,forsmallthetaonecanuse:

sin
cos 1

Rotation

RotationaboutapointPr.

P n= P r

cos sin
P o P r
sin cos
y

Pr
x

Scaling

Scalingfromtheorigin.Ifscalingvaluesarethesamethenitis
calleduniformscaling.
P n=

[ ]
sx
0

0
Po
sy

Scalingfromafixedpoint.

[ ][ ] [ ]
[ ] [ ]

s
P n= x f x
0
yf
P n=

sx
0

0
P o x f
sy
yf

0
P o x f 1s x
sy
y f 1 s y

x
Noticehowallthesetransformations(translation,
rotation,andscaling)areoftheform:

P n= M 1 P o M 2

HomogeneousCoordinates

Byexpandingtoa3x3matrixwecancombineallthese
transformationsintoasinglematrixmultiplication.
TheCartesianpoint(x,y)isrepresentedbythehomogeneous
coordinate(hx,hy,h),wherehisnonezero.Oftenhissetto1so
(x,y)isrepresentedby(x,y,1).
Alsothehomogeneouscoordinate(a,b,c)representstheCartesian
point(a/c,b/c).AsinglepointinCartesianspaceisrepresentedby
alineinhomogeneousspace.
Allofthetransformationswehavelookedatcanberepresentedbya
singlematrix:
Translation

[ ]

1 0 tx
T t x , t y = 0 1 t y
0 0 1

Scaling

Rotation

cos sin 0
R= sin cos 0
0
0
1

[ ]

sx
S s x , s y = 0
0

0 0
sy 0
0 1

CompositeTransformations

Asequenceoftransformationscanbecombinedintoasingle
compositetransformationmatrix.

Supposewewishtoconductthesequence:T(5,4),R(0.4),T(5,4)
oftransformationsonapointPo.Wecouldcalculate:
P n =T 5,4 R 0.4T 5,4 P o

thisisthesameas:
P n =T 5,4R 0.4T 5,4 P o

Compositetransformationscombineasexpected:

T a , bT c , d =T ac , bd

R R= R
S a , b S c , d =S ac , bd
Orderisgenerallyimportantfor
matrixmultiplication!

Reflection

[ ]
[ ]

Reflectionaboutthexaxis:

Reflectionabouttheyaxis: 1 0 0

1 0 0
0 1 0
0 0 1

0
0

10

1 0
0 1

Reflectionaboutboth(sameasrotationby180):

Howwouldyoureflectaboutanarbitraryaxis??

1 0 0
0 1 0
0
0 1

Shear

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Ashearwilldistorttheshapeofanobject.
y
Thisisshearalongthexaxis:

1 sh x 0
0 1 0
0 0 1

]
x

RasterOperations

Geometrictransformationscantakeplacedirectlyintheframebuffer.
Thesecanbedoneefficientlybymanipulatingthearrayofpixel
values.
2Dblocktranslationcanbedonebycopyingblocksofmemory(bitblt,
blocktransfer).
Rotationofa2Dblockby90,180,270canbedonebycopying
pixels.
Rotationbyotheranglescanbedonebysamplingpixelcolours.
Scalingcanbealsodoneasarasteroperation,thismayalsorequire
samplingpixelcolours.

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