Computer Graphics

2D Transformations

1
 Transformation
Transform every point on an object according to certain rule.

Q (x’, y’)

P (x,y)
T

Initial Object

Transformed Object

x x’ The point Q is the image of P under the transformation

y y’ T.
 Geometric Transformation

• Why do we need geometric

transformations in CG?
– As a viewing aid
– As a modeling tool
– As an image manipulation tool
 Translation
(55,60)

(20,35)

(45,30)
(65,30)

x x  tx
(10,5) (30,5)
y y  t y
The vector (tx, ty) is called the offset vector.
 Rotation About the Origin
y
(x’,y’)

(x’,y’)
(x,y)
(x,y)

o x
x   x cos  y sin 
y   x sin   y cos
The above 2D rotation is actually a rotation about the z-axis (0,0,z) by
an angle .
Rotation About a Pivot Point

(x’,y’) (x,y)

(xp , yp)
Pivot Point

•Pivot point is the point of rotation

•Pivot point need not necessarily be on the object
 Rotation About a Pivot Point

STEP-1: Translate the pivot point to the origin

(x,y)

(x1, y1)

(xp , yp)

x1  x  x p

y1  y  y p
 Rotation About a Pivot Point

STEP-2: Rotate about the origin

(x2, y2) (x1, y1)

x 2  x1 cos   y1sin 

y 2  x1 sin   y1 cos 
 Rotation About a Pivot Point
STEP-3: Translate the pivot point to original position
(x’, y’)

(x2, y2)

(xp, yp)

x  x 2  x p

y  y 2  y p
 Scaling About the Origin

(x’,y’)

(x,y)
x   x. s x
(x,y)

(x’,y’)
y   y. s y

Uniform Non-Uniform

( sx , s y  0) The parameters sx, sy are called scale factors.

Uniform: sx  s y Non-Uniform: sx  s y
 Scaling About a Fixed Point

• Translate the fixed point to origin

(x,y) • Scale with respect to the origin
•Translate the fixed point to its original
(x’,y’) position.

(xf , yf )

x ( x  x f ).s x  x f
y  ( y  y f ).s y  y f
 Reflections
y
Reflection about y Initial
Object
x =  x

Reflection about
origin
Reflection about x
x =  x
y =  y
y =  y
 Shear

x   x  hx y
y y

•A shear transformation in the x-direction (along x)

shifts the points in the x-direction proportional
to the y-coordinate.
•The y-coordinate of each point is unaffected.
Shear
• Two common shearing transformations are those that
shift coordinate x values and those that shift y values.
• An x-direction shear relative to the x axis is produced with
the transformation matrix (shx=2)
y y
x’ = x + shx · y, (0,1) (1,1)
(2,1) (3,1)
y’ = 1y shx 0 (0,0) (1,0) x x
0 1 0
(0,0) (1,0)

 0 0 1

• An y-direction shear relative to the y axis is produced with

the transformation matrix
 1 0 0
y’ = y + shy · x,  sh
x’ = x  y 1 0
 0 0 1
 Matrix Representation
• Represent a 2D Transformation by a Matrix

 a b
c d
 
• Apply the Transformation to a Point

x ax  by  x  a b   x 
y cx  dy  y  c d   y 
    
Transformation
Point
Matrix
 2×2 Matrices
2D Scaling

x sx x  x  sx 0   x 
y sy y  y  0 sy   y 
    
 2×2 Matrices
2D Rotation

x cos  x  sin  y  x  cos   sin    x 

 y  sin  cos    y 
y sin  x  cos  y     

2D Shearing

x  x  shx y  x 1 shx   x 

 y  shy 1  y 
y shy x  y     
 2×2 Matrices
• Reflection
2D Mirror over Y axis
x  x  x   1 0  x 
 y  0 1   y 
y  y     

2D Mirror over x,y axis

x  x  x   1 0  x 
y  y  y  0  1  y 
    
 Matrix Representations

 x   x   t x 
Translation  y    y    t 
     y

Rotation [Origin]
 x   cos  sin    x 
 y    sin  cos   y 
    
 x   sx 0   x 
Scaling [Origin]  y    0 s   y 
   y 
 Matrix Representations

 x  1 0   x 
Reflection about x  y  0  1  y 
    
 x   1 0  x 
Reflection about y
 y  0 1  y 
    
Reflection about  x   1 0   x 
the Origin  y  0  1  y 
    
Matrix Representations

Shear along x  x  1 h   x 

 y  0 1   y 
    
 x  1 0  x 
Shear along y
 y  h 1  y 
    
 Homogeneous Coordinates
To obtain square matrices an additional row was added to the matrix and an
additional coordinate, the w-coordinate, was added to the vector for a point.
In this way a point in 2D space is expressed in three-dimensional
homogeneous coordinates.
This technique of representing a point in a space whose dimension is one
greater than that of the point is called homogeneous representation. It
provides a consistent, uniform way of handling affine transformations.
An affine
transformatio
n is a linear
mapping
method that
preserves
parallel lines,
points, and
planes. It can
involve
translation,
rotation, or
uniform [6]-22
 Homogeneous Coordinates

• A standard technique for expanding each two-

dimensional coordinate position representation (x, y) to
( xh , yh , h)
three-element representation ,called Homogeneous
Coordinates, where homogeneous h is a nonzero value
such that
xh yh
x , y
h h

• For geometric transformation, we can choose the

homogeneous parameter h to be any nonzero value. Thus
there are an infinite number of equivalent homogeneous
representations for each coordinate point (x, y) .
• A convenient choice is simply to set h=1, so each two-
dimensional position is then represented with
homogeneous coordinate (x,y,1).

• Expressing positions in homogenous coordinates allows

us to represent all geometric transformation equations
as matrix multiplications, which is the standard method
used in graphics systems.

• Two dimensional coordinate positions are represented

with three-elements column vectors, and two-
dimensional transformation operations are expressed
as 3X3 matrices.
• Homogeneous coordinate representation of 2D Translation

 x 1 0 tx   x 
x  x  tx  y  0 1 ty   y 
y y  ty     
1   0 0 1  1 

• This translation operation can be written in the abbreviated

form

P ' T (t x , t y )  P
• Homogeneous coordinate representation of 2D Rotation
 x  cos   sin  0  x 
 y   sin  cos  0  y 
  
1   0 0 1  1 

This rotation operation can be written in the

abbreviated form
'
P R( )  P
• Homogeneous coordinate representation of 2D Scaling
 x  sx 0 0  x 
 y   0 sy 0  y 
  
1   0 0 1  1 

This scaling operation can be written in the

abbreviated form
'
P S ( sx, sy )  P
• Properties of homogeneous coordinate 2D
transformation.

• (1) Translation and rotation have additive properties.

T (t x , t y )  T (t h , tl ) T (t x  t h , t y  tl )
R (1 )  R ( 2 ) R(1   2 )

• (2) Scaling transformation has multiplicative properties.

S ( sx, st )  S ( sh, sl ) S ( sx  sh, st  sl )

 Homogeneous Coordinates
Basic Transformations
 x   1 0 t x   x 
Translation  y   0 1 t   y 
P’=TP    y 
 1   0 0 1   1 
 x   cos  sin  0  x 
Rotation [O]  y    sin  cos 0  y 
P’=RP     
 1   0 0 1  1 
 x   sx 0 0  x 
Scaling [O]  y    0 s 0  y 
P’=SP    y  
 1   0 0 1  1  [6]-29
Inverse of Transformations

If,  x   x then,  x  x 
 y  [T ] y   y  [T ] 1  y 
       
 1   1   1   1 

1
Examples: T (t x , t y ) T ( t x , t y )
R  1 ( ) R(  )
1 1
S ( s x , s y ) S  , 
1
s s 
 x y
H x 1 (h) H x ( h) [6]-30
 Transformation Matrices

Additional Properties:

T (t x , t y )T (u x , u y ) T (t x  u x , t y  u y )

R (1 ) R ( 2 ) R (1   2 )

R ( ) 1

S ( s x , s y ) S ( wx , wy ) S ( s x wx , s y wy )
 Composite Transformations
Transformation T followed by  x   x
Transformation Q followed by  y  [ R ][Q ][T ] y 
Transformation R:    
 1   1 

Example: (Scaling with respect to a fixed point)

 x   1 0 x f   sx 0 0  1 0  x f   x 
 y   0 1      
0  0 1  y f   y 
   yf  0 sy
 1   0 0 1   0 0 1  0 0 1   1 

Order of Transformations
 Order of Transformations
In composite transformations, the order of
transformations is very important.
Rotation followed by Translation:

Translation followed by Rotation:

 Matrix Composition
• Transformations can be combined by matrix multiplication

 x   1 0 tx   cos θ - sinθ 0   sx 0 0   x 
 y   0 1 ty   sinθ cosθ 0  0 sy 0    y 
       
 w   0 0 1   0 0 1   0 0 1    w 

p  T(tx, ty) R( ) S(sx, sy) p

 Matrix multiplication is associative

p (T (R (S p))) p (T R S) p

 Matrix Composition
• Rotate by  around arbitrary point (a,b)

M T(a, b) R(θ ) T(-a,-b) (a,b)

• Scale by sx, sy around arbitrary point (a,b)

M T(a, b) S(sx, sy) T(-a,-b) (a,b)

 Pivot-Point Rotation

(xr,yr (xr,yr (xr,yr (xr,yr

) ) ) )

Translate Rotate Re-Translate

T xr , yr R T  xr , yr  Rxr , yr , 

 1 0 x r   cos   sin  0  1 0  x r   cos   sin  x r (1  cos  )  y r sin  
 0 1 y   sin  cos  0  0 1  y   sin  cos  y r (1  cos  )  x r sin  
 r    r

 0 0 1   0 0 1  0 0 1   0 0 1 
 Rotation about the point (2,3) by +90

P’= T(x,y) R(theta)T(-x,-y) P= T(-2,-3) R(90)T(+2,+3) P

P’=

P’==