Introduction To Computer Graphics CS 445 / 645: Transformations

Introduction to
Computer Graphics
CS 445 / 645
Lecture 5
Lecture 5
Transformations
Transformations
Lecture 5
Lecture 5
Transformations
Transformations
M.C. Escher Smaller and Smaller (1956)
Modeling Transformations
Specify transformations for objects
Allows definitions of objects in own coordinate systems Allows definitions of objects in own coordinate systems
Allows use of object definition multiple times in a scene Allows use of object definition multiple times in a scene
Remember how OpenGL provides a transformation Remember how OpenGL provides a transformation
stack because they are so frequently reused stack because they are so frequently reused
Chapter 5 from Hearn and Baker
Allows definitions of objects in own coordinate systems Allows definitions of objects in own coordinate systems
Allows use of object definition multiple times in a scene Allows use of object definition multiple times in a scene
Remember how OpenGL provides a transformation Remember how OpenGL provides a transformation
stack because they are so frequently reused stack because they are so frequently reused
H&B Figure 109
Overview
2D Transformations
2D Transformations
Basic 2D transformations Basic 2D transformations
Matrix representation Matrix representation
Matrix composition Matrix composition

3D Transformations
3D Transformations
Same as 2D Same as 2D
2D Transformations
2D Transformations

3D Transformations
3D Transformations
2D Modeling Transformations
Scale
Rotate
Translate
Scale
Translate
x
y
World Coordinates
Modeling
Coordinates
x
y
World Coordinates
Modeling
Coordinates
Lets look
at this in
detail
x
y
Modeling
Coordinates
Initial location
at (0, 0) with
x- and y-axes
aligned
x
y
Modeling
Coordinates
Scale .3, .3
Rotate -90
Translate 5, 3
x
y
Modeling
Coordinates
Scale .3, .3
Rotate -90
Translate 5, 3
x
y
Modeling
Coordinates
Scale .3, .3
Rotate -90
Translate 5, 3
World Coordinates
Scaling
Scaling Scaling a coordinate means multiplying each of its a coordinate means multiplying each of its
components by a scalar components by a scalar
Uniform scaling Uniform scaling means this scalar is the same for all means this scalar is the same for all
components: components:
Scaling Scaling a coordinate means multiplying each of its a coordinate means multiplying each of its
components by a scalar components by a scalar
Uniform scaling Uniform scaling means this scalar is the same for all means this scalar is the same for all
components: components:
2
Non-uniform scaling Non-uniform scaling: different scalars per component: : different scalars per component:
How can we represent this in matrix form? How can we represent this in matrix form?
Non-uniform scaling Non-uniform scaling: different scalars per component: : different scalars per component:
How can we represent this in matrix form? How can we represent this in matrix form?
Scaling
X 2,
Y 0.5
Scaling
Scaling operation:
Scaling operation:
Or, in matrix form:
Or, in matrix form:
Scaling operation:
Scaling operation:
Or, in matrix form:
Or, in matrix form:
]
]
]
]
]
]
by
ax
y
x
'
'
]
]
]
]
]
]
]
]
]
y
x
b
a
y
x
0
0
'
'
scaling matrix
2-D Rotation
(x, y)
(x, y)
x = x cos( ) - y sin( )
y = x sin( ) + y cos( )
2-D Rotation
x = r cos ( )
y = r sin ( )
x = r cos ( + )
y = r sin ( + )
Trig Identity
x = r cos( ) cos( ) r sin( ) sin( )
y = r sin( ) sin( ) + r cos( ) cos( )
Substitute
x = x cos( ) - y sin( )
y = x sin( ) + y cos( )
(x, y)
(x, y)
2-D Rotation
This is easy to capture in matrix form:
Even though sin(
Even though sin(
) and cos(
) and cos(
) are nonlinear
) are nonlinear
functions of
functions of
,
,
x is a linear combination of x and y x is a linear combination of x and y
y is a linear combination of x and y y is a linear combination of x and y

Even though sin(
Even though sin(
) and cos(
) and cos(
) are nonlinear
) are nonlinear
functions of
functions of
,
,
x is a linear combination of x and y x is a linear combination of x and y
y is a linear combination of x and y y is a linear combination of x and y

( ) ( )
( ) ( )
]
]
]
]
]
]
]
]
]
y
x
y
x

cos sin
sin cos
'
'
Basic 2D Transformations
Translation: Translation:
x = x + t x = x + t
x x
y = y + t y = y + t
y y
Scale: Scale:
x = x * s x = x * s
x x

y = y * s y = y * s
y y
Shear: Shear:
x = x + h x = x + h
x x
*y *y
y = y + h y = y + h
y y
*x *x
Rotation: Rotation:
x = x*cos x = x*cos - y*sin - y*sin
y = x*sin y = x*sin + y*cos + y*cos
x = x + t x = x + t
x x
y = y + t y = y + t
y y
Scale: Scale:
x = x * s x = x * s
x x

y = y * s y = y * s
y y
Shear: Shear:
x = x + h x = x + h
x x
*y *y
y = y + h y = y + h
y y
*x *x
Rotation: Rotation:
Transformations
can be combined
(with simple algebra)
x = x + t x = x + t
x x
y = y + t y = y + t
y y
Scale: Scale:
x = x * s x = x * s
x x

y = y * s y = y * s
y y
Shear: Shear:
x = x + h x = x + h
x x
*y *y
y = y + h y = y + h
y y
*x *x
Rotation: Rotation:
x = x + t x = x + t
x x
y = y + t y = y + t
y y
Scale: Scale:
x = x * s x = x * s
x x

y = y * s y = y * s
y y
Shear: Shear:
x = x + h x = x + h
x x
*y *y
y = y + h y = y + h
y y
*x *x
Rotation: Rotation:
x = x + t x = x + t
x x
y = y + t y = y + t
y y
Scale: Scale:
x = x x = x * s * s
x x

y = y y = y * s * s
y y
Shear: Shear:
x = x + h x = x + h
x x
*y *y
y = y + h y = y + h
y y
*x *x
Rotation: Rotation:
x = x + t x = x + t
x x
y = y + t y = y + t
y y
Scale: Scale:
x = x x = x * s * s
x x

y = y y = y * s * s
y y
Shear: Shear:
x = x + h x = x + h
x x
*y *y
y = y + h y = y + h
y y
*x *x
Rotation: Rotation:
x = x*s
x
y = y*s
y
x = x*s
x
y = y*s
y
(x,y)
(x,y)
x = (x*s
x
)*cos - (y*s
y
)*sin
y = (x*s
x
)*sin + (y*s
y
)*cos
x = (x*s
x
)*cos - (y*s
y
)*sin
y = (x*s
x
)*sin + (y*s
y
)*cos
(x,y)
x = x + t x = x + t
x x
y = y + t y = y + t
y y
Scale: Scale:
x = x * s x = x * s
x x

y = y * s y = y * s
y y
Shear: Shear:
x = x + h x = x + h
x x
*y *y
y = y + h y = y + h
y y
*x *x
Rotation: Rotation:
x = x* x = x*cos cos - y* - y*sin sin
y = x* y = x*sin sin + y* + y*cos cos

x = x + t x = x + t
x x
y = y + t y = y + t
y y
Scale: Scale:
x = x * s x = x * s
x x

y = y * s y = y * s
y y
Shear: Shear:
x = x + h x = x + h
x x
*y *y
y = y + h y = y + h
y y
*x *x
Rotation: Rotation:
x = x* x = x*cos cos - y* - y*sin sin
y = x* y = x*sin sin + y* + y*cos cos

x = x x = x + t + t
x x
y = y y = y + t + t
y y
Scale: Scale:
x = x * s x = x * s
x x

y = y * s y = y * s
y y
Shear: Shear:
x = x + h x = x + h
x x
*y *y
y = y + h y = y + h
y y
*x *x
Rotation: Rotation:
x = x x = x + t + t
x x
y = y y = y + t + t
y y
Scale: Scale:
x = x * s x = x * s
x x

y = y * s y = y * s
y y
Shear: Shear:
x = x + h x = x + h
x x
*y *y
y = y + h y = y + h
y y
*x *x
Rotation: Rotation:
x = ((x*s
x
)*cos - (y*s
y
)*sin ) + t
x
y = ((x*s
x
)*sin + (y*s
y
)*cos ) + t
y
x = ((x*s
x
)*cos - (y*s
y
)*sin ) + t
x
y = ((x*s
x
)*sin + (y*s
y
)*cos ) + t
y
(x,y)
x = x + t x = x + t
x x
y = y + t y = y + t
y y
Scale: Scale:
x = x * s x = x * s
x x

y = y * s y = y * s
y y
Shear: Shear:
x = x + h x = x + h
x x
*y *y
y = y + h y = y + h
y y
*x *x
Rotation: Rotation:
x = x + t x = x + t
x x
y = y + t y = y + t
y y
Scale: Scale:
x = x * s x = x * s
x x

y = y * s y = y * s
y y
Shear: Shear:
x = x + h x = x + h
x x
*y *y
y = y + h y = y + h
y y
*x *x
Rotation: Rotation:
x = ((x*s
x
)*cos - (y*s
y
)*sin ) + t
x
y = ((x*s
x
)*sin + (y*s
y
)*cos ) + t
y
x = ((x*s
x
)*cos - (y*s
y
)*sin ) + t
x
y = ((x*s
x
)*sin + (y*s
y
)*cos ) + t
y
Overview
2D Transformations
2D Transformations

3D Transformations
3D Transformations
2D Transformations
2D Transformations

3D Transformations
3D Transformations
Matrix Representation
Represent 2D transformation by a matrix
Multiply matrix by column vector
apply transformation to point


]
]
]
]
]
]
]
]
]
y
x
d c
b a
y
x
'
'
]
]
]
d c
b a
dy cx y
by ax x
+
+
'
'
Matrix Representation
Transformations combined by multiplication
Transformations combined by multiplication Transformations combined by multiplication
Transformations combined by multiplication
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
y
x
l k
j i
h g
f e
d c
b a
y
x
'
'
Matrices are a convenient and efficient way
to represent a sequence of transformations!
2x2 Matrices
What types of transformations can be
represented with a 2x2 matrix?
2D Identity?
y y
x x
'
'
]
]
]
]
]
]
]
]
]
y
x
y
x
1 0
0 1
'
'
2D Scale around (0,0)?
y s y
x s x
y
x
* '
* '
]
]
]
]
]
]
]
]
]
y
x
s
s
y
x
y
x
0
0
'
'
2x2 Matrices
2D Rotate around (0,0)?
y x y
y x x
* cos * sin '
* sin * cos '
+

]
]
]
]
]
]
]
]
]
y
x
y
x
cos sin
sin cos
'
'
2D Shear?
y x sh y
y sh x x
y
x
+
+
* '
* '
]
]
]
]
]
]
]
]
]
y
x
sh
sh
y
x
y
x
1
1
'
'
2x2 Matrices
2D Mirror about Y axis?
y y
x x

'
'
]
]
]
]
]
]
]
]
]
y
x
y
x
1 0
0 1
'
'
2D Mirror over (0,0)?
y y
x x

'
'
]
]
]
]
]
]
]
]
]
y
x
y
x
1 0
0 1
'
'
2x2 Matrices
2D Translation?
y
x
t y y
t x x
+
+
'
'
Only linear 2D transformations
can be represented with a 2x2 matrix
NO!
Linear Transformations
Linear transformations are combinations of Linear transformations are combinations of
Scale, Scale,
Rotation, Rotation,
Shear, and Shear, and
Mirror Mirror
Properties of linear transformations: Properties of linear transformations:
Satisfies: Satisfies:
Origin maps to origin Origin maps to origin
Lines map to lines Lines map to lines
Parallel lines remain parallel Parallel lines remain parallel
Ratios are preserved Ratios are preserved
Closed under composition Closed under composition

Linear transformations are combinations of Linear transformations are combinations of
Scale, Scale,
Rotation, Rotation,
Shear, and Shear, and
Mirror Mirror
Properties of linear transformations: Properties of linear transformations:
Satisfies: Satisfies:
Origin maps to origin Origin maps to origin

) ( ) ( ) (
2 2 1 1 2 2 1 1
p p p p T s T s s s T + +
]
]
]
]
]
]
]
]
]
y
x
d c
b a
y
x
'
'
Homogeneous Coordinates
Q: How can we represent translation as a 3x3 matrix?
Q: How can we represent translation as a 3x3 matrix? Q: How can we represent translation as a 3x3 matrix?
y
x
t y y
t x x
+
+
'
'
Homogeneous coordinates Homogeneous coordinates
represent coordinates in 2 represent coordinates in 2

dimensions with a 3-vector dimensions with a 3-vector
Homogeneous coordinates Homogeneous coordinates
represent coordinates in 2 represent coordinates in 2

dimensions with a 3-vector dimensions with a 3-vector
]
]
]
]
]

]
]
]
1
coords s homogeneou
y
x
y
x
Homogeneous coordinates seem unintuitive, but they
make graphics operations much easier
Homogeneous coordinates seem unintuitive, but they
make graphics operations much easier
A: Using the rightmost column:
]
]
]
]
]
1 0 0
1 0
0 1
y
x
t
t
ranslation T
y
x
t y y
t x x
+
+
'
'
Translation
Example of translation Example of translation
Example of translation Example of translation
]
]
]
]
]
+
+
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
1 1 1 0 0
1 0
0 1
1
'
'
y
x
y
x
t y
t x
y
x
t
t
y
x
t
x
= 2
t
y
= 1
Homogeneous Coordinates Homogeneous Coordinates
Add a 3rd coordinate to every 2D point Add a 3rd coordinate to every 2D point
(x, y, w) represents a point at location (x/w, y/w) (x, y, w) represents a point at location (x/w, y/w)
(x, y, 0) represents a point at infinity (x, y, 0) represents a point at infinity
(0, 0, 0) is not allowed (0, 0, 0) is not allowed

Add a 3rd coordinate to every 2D point Add a 3rd coordinate to every 2D point
(x, y, w) represents a point at location (x/w, y/w) (x, y, w) represents a point at location (x/w, y/w)
(x, y, 0) represents a point at infinity (x, y, 0) represents a point at infinity
(0, 0, 0) is not allowed (0, 0, 0) is not allowed

Convenient coordinate
system to
represent many useful
transformations
1 2
1
2
(2,1,1) or (4,2,2) or (6,3,3)
x
y
Basic 2D transformations as 3x3 matrices
Basic 2D transformations as 3x3 matrices Basic 2D transformations as 3x3 matrices
Basic 2D transformations as 3x3 matrices
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
1 1 0 0
0 cos sin
0 sin cos
1
'
'
y
x
y
x
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
1 1 0 0
1 0
0 1
1
'
'
y
x
t
t
y
x
y
x
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
1 1 0 0
0 1
0 1
1
'
'
y
x
sh
sh
y
x
y
x
Translate
Rotate Shear
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
1 1 0 0
0 0
0 0
1
'
'
y
x
s
s
y
x
y
x
Scale
Affine Transformations
Affine transformations are combinations of Affine transformations are combinations of
Linear transformations, and Linear transformations, and
Translations Translations
Properties of affine transformations: Properties of affine transformations:
Origin does not necessarily map to origin Origin does not necessarily map to origin

Affine transformations are combinations of Affine transformations are combinations of
Linear transformations, and Linear transformations, and
Translations Translations
Properties of affine transformations: Properties of affine transformations:

]
]
]
]
]
]
]
]
]
]
]
]
w
y
x
f e d
c b a
w
y
x
1 0 0
'
'
Projective Transformations
Projective transformations Projective transformations
Affine transformations, and Affine transformations, and
Projective warps Projective warps

Properties of projective transformations: Properties of projective transformations:
Parallel lines do not necessarily remain parallel Parallel lines do not necessarily remain parallel
Ratios are not preserved Ratios are not preserved

Projective transformations Projective transformations
Affine transformations, and Affine transformations, and
Projective warps Projective warps

Properties of projective transformations: Properties of projective transformations:
Parallel lines do not necessarily remain parallel Parallel lines do not necessarily remain parallel
Ratios are not preserved Ratios are not preserved

]
]
]
]
]
]
]
]
]
]
]
]
w
y
x
i h g
f e d
c b a
w
y
x
'
'
'
Overview
2D Transformations
2D Transformations

3D Transformations
3D Transformations
2D Transformations
2D Transformations

3D Transformations
3D Transformations
Matrix Composition
Transformations can be combined by
matrix multiplication
]
]
]
]
,
`
.
|
]
]
]
]
]
]
]
]

]
]
]
]
]
]
]
]
w
y
x
sy
sx
ty
tx
w
y
x
1 0 0
0 0
0 0
1 0 0
0 cos sin
0 sin cos
1 0 0
1 0
0 1
'
'
'
p = T(t
x
,t
y
) R( ) S(s
x
,s
y
) p
Matrix Composition
Matrices are a convenient and efficient way to
represent a sequence of transformations
General purpose representation General purpose representation
Hardware matrix multiply Hardware matrix multiply

General purpose representation General purpose representation
Hardware matrix multiply Hardware matrix multiply

p = (T * (R * (S*p) ) )
p = (T*R*S) * p
Matrix Composition
Be aware: order of transformations matters
Matrix multiplication is not commutative Matrix multiplication is not commutative

Matrix multiplication is not commutative Matrix multiplication is not commutative

p = T * R * S * p
Global Local
Matrix Composition
What if we want to rotate
and
and
translate?
translate?
Ex: Ex: Rotate line segment by 45 degrees about endpoint Rotate line segment by 45 degrees about endpoint a a
and lengthen and lengthen
and
and
translate?
translate?
Ex: Ex: Rotate line segment by 45 degrees about endpoint Rotate line segment by 45 degrees about endpoint a a
and lengthen and lengthen
a a
Multiplication Order Wrong Way
Our line is defined by two endpoints Our line is defined by two endpoints
Applying a rotation of 45 degrees, R(45), affects both points Applying a rotation of 45 degrees, R(45), affects both points
We could try to translate both endpoints to return endpoint We could try to translate both endpoints to return endpoint a a to its to its
original position, but by how much? original position, but by how much?
Our line is defined by two endpoints Our line is defined by two endpoints
Applying a rotation of 45 degrees, R(45), affects both points Applying a rotation of 45 degrees, R(45), affects both points
We could try to translate both endpoints to return endpoint We could try to translate both endpoints to return endpoint a a to its to its
original position, but by how much? original position, but by how much?
Wrong Correct
T(-3) R(45) T(3)
R(45)
a
a
a
Multiplication Order - Correct
Isolate endpoint
Isolate endpoint
a
a
from rotation effects
First translate line so First translate line so a a is at origin: T (-3) is at origin: T (-3)
Then rotate line 45 degrees: R(45) Then rotate line 45 degrees: R(45)
Then translate back so Then translate back so a a is where it was: T(3) is where it was: T(3)
Isolate endpoint
Isolate endpoint
a
a
First translate line so First translate line so a a is at origin: T (-3) is at origin: T (-3)
Then rotate line 45 degrees: R(45) Then rotate line 45 degrees: R(45)
Then translate back so Then translate back so a a is where it was: T(3) is where it was: T(3)
a
a
a
a
Will this sequence of operations work? Will this sequence of operations work?
Matrix Composition
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]

]
]
]
]
]

1
'
'
1 1 0 0
0 1 0
3 0 1
1 0 0
0 ) 45 cos( ) 45 sin(
0 ) 45 sin( ) 45 cos(
1 0 0
0 1 0
3 0 1
y
x
y
x
a
a
a
a
Matrix Composition
After correctly ordering the matrices
Multiply matrices together
What results is one matrix
store it (on stack)!
Multiply this matrix by the vector of each vertex
All vertices easily transformed with one matrix
multiply
multiply
multiply
multiply
Overview
2D Transformations
2D Transformations

3D Transformations
3D Transformations
2D Transformations
2D Transformations

3D Transformations
3D Transformations
3D Transformations
Same idea as 2D transformations
Homogeneous coordinates: (x,y,z,w) Homogeneous coordinates: (x,y,z,w)
4x4 transformation matrices 4x4 transformation matrices

Homogeneous coordinates: (x,y,z,w) Homogeneous coordinates: (x,y,z,w)
4x4 transformation matrices 4x4 transformation matrices

]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
w
z
y
x
p o n m
l k j i
h g f e
d c b a
w
z
y
x
'
'
'
'
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
w
z
y
x
w
z
y
x
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
'
'
'
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
w
z
y
x
t
t
t
w
z
y
x
z
y
x
1 0 0 0
1 0 0
0 1 0
0 0 1
'
'
'
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
w
z
y
x
s
s
s
w
z
y
x
z
y
x
1 0 0 0
0 0 0
0 0 0
0 0 0
'
'
'
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
w
z
y
x
w
z
y
x
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
'
'
'
Identity Scale
Translation Mirror about Y/Z plane
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
w
z
y
x
w
z
y
x
1 0 0 0
0 1 0 0
0 0 cos sin
0 0 sin cos
'
'
'
Rotate around Z axis:
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
w
z
y
x
w
z
y
x
1 0 0 0
0 cos 0 sin
0 0 1 0
0 sin 0 cos
'
'
'
Rotate around Y axis:
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
w
z
y
x
w
z
y
x
1 0 0 0
0 cos sin 0
0 sin cos 0
0 0 0 1
'
'
'
Rotate around X axis:
Reverse Rotations
Q: How do you undo a rotation of Q: How do you undo a rotation of
,
, R( R(
)? )?
A: Apply the inverse of the rotation R A: Apply the inverse of the rotation R
-1 -1
( (
) = R(- ) = R(-
) )
How to construct R-1( How to construct R-1(
) = R(- ) = R(-
) )
Inside the rotation matrix: cos( Inside the rotation matrix: cos( ) = cos(- ) = cos(- ) )
The cosine elements of the inverse rotation matrix are unchanged The cosine elements of the inverse rotation matrix are unchanged
The sign of the sine elements will flip The sign of the sine elements will flip
Therefore R Therefore R
-1 -1
( (
) = R(- ) = R(-
) = R ) = R
T T
( (
) )
Q: How do you undo a rotation of Q: How do you undo a rotation of
,
, R( R(
)? )?
A: Apply the inverse of the rotation R A: Apply the inverse of the rotation R
-1 -1
( (
) = R(- ) = R(-
) )
How to construct R-1( How to construct R-1(
) = R(- ) = R(-
) )
Inside the rotation matrix: cos( Inside the rotation matrix: cos( ) = cos(- ) = cos(- ) )
The cosine elements of the inverse rotation matrix are unchanged The cosine elements of the inverse rotation matrix are unchanged
The sign of the sine elements will flip The sign of the sine elements will flip
Therefore R Therefore R
-1 -1
( (
) = R(- ) = R(-
) = R ) = R
T T
( (
) )
Summary
Coordinate systems Coordinate systems
World vs. modeling coordinates World vs. modeling coordinates

2-D and 3-D transformations 2-D and 3-D transformations
Trigonometry and geometry Trigonometry and geometry
Matrix representations Matrix representations
Linear vs. affine transformations Linear vs. affine transformations

Matrix operations Matrix operations

Coordinate systems Coordinate systems
World vs. modeling coordinates World vs. modeling coordinates

2-D and 3-D transformations 2-D and 3-D transformations
Trigonometry and geometry Trigonometry and geometry
Matrix representations Matrix representations
Linear vs. affine transformations Linear vs. affine transformations

Matrix operations Matrix operations

Introduction To Computer Graphics CS 445 / 645: Transformations

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Introduction To Computer Graphics CS 445 / 645: Transformations

Uploaded by

Copyright:

Available Formats

Introduction to

Basic 2D transformations Basic 2D transformations

Matrix representation Matrix representation

Matrix composition Matrix composition

Basic 3D transformations Basic 3D transformations

Basic 2D transformations Basic 2D transformations

Matrix representation Matrix representation

Matrix composition Matrix composition

Basic 3D transformations Basic 3D transformations

x is a linear combination of x and y x is a linear combination of x and y

y is a linear combination of x and y y is a linear combination of x and y

x is a linear combination of x and y x is a linear combination of x and y

y is a linear combination of x and y y is a linear combination of x and y

x = x* x = x*cos cos - y* - y*sin sin

y = x* y = x*sin sin + y* + y*cos cos

x = x* x = x*cos cos - y* - y*sin sin

y = x* y = x*sin sin + y* + y*cos cos

Basic 2D transformations Basic 2D transformations

Matrix representation Matrix representation

Matrix composition Matrix composition

Basic 3D transformations Basic 3D transformations

Basic 2D transformations Basic 2D transformations

Matrix representation Matrix representation

Matrix composition Matrix composition

Basic 3D transformations Basic 3D transformations

apply transformation to point

apply transformation to point

Shear, and Shear, and

Origin maps to origin Origin maps to origin

Lines map to lines Lines map to lines

Parallel lines remain parallel Parallel lines remain parallel

Ratios are preserved Ratios are preserved

Closed under composition Closed under composition

Shear, and Shear, and

Origin maps to origin Origin maps to origin

Lines map to lines Lines map to lines

Parallel lines remain parallel Parallel lines remain parallel

Ratios are preserved Ratios are preserved

Closed under composition Closed under composition

represent coordinates in 2 represent coordinates in 2

represent coordinates in 2 represent coordinates in 2

Example of translation Example of translation

(x, y, 0) represents a point at infinity (x, y, 0) represents a point at infinity

(0, 0, 0) is not allowed (0, 0, 0) is not allowed

(x, y, 0) represents a point at infinity (x, y, 0) represents a point at infinity

(0, 0, 0) is not allowed (0, 0, 0) is not allowed

Linear transformations, and Linear transformations, and

Lines map to lines Lines map to lines

Parallel lines remain parallel Parallel lines remain parallel

Ratios are preserved Ratios are preserved

Closed under composition Closed under composition

Linear transformations, and Linear transformations, and

Lines map to lines Lines map to lines

Parallel lines remain parallel Parallel lines remain parallel

Ratios are preserved Ratios are preserved

Closed under composition Closed under composition

Affine transformations, and Affine transformations, and

Projective warps Projective warps

Lines map to lines Lines map to lines

Ratios are not preserved Ratios are not preserved

Closed under composition Closed under composition

Affine transformations, and Affine transformations, and

Projective warps Projective warps

x = x* x = xcos cos - y - y*sin sin

y = x* y = xsin sin + y + y*cos cos

x = x* x = xcos cos - y - y*sin sin

y = x* y = xsin sin + y + y*cos cos