Geometrical Transformations

2D Geometrical Transformations

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2D Geometric Transformations Translation

Translation x=x+tx
y
Rotation y=y+ty
Scaling (x,y)

Shear x ' x t x
y ' = y + t
Homogenous Coordinates y
Matrix Representations (x,y)

Composite Transformations x

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Rotation Scaling
x=x cos - y sin x=Sx x
y y
y=x sin + y cos y=Sy y
(x,y)

x ' cos sin x (x,y) x' S x 0 x

y ' = sin cos y y ' = 0 S y
(x,y) y
(x,y)

x x

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Shear Homogenous Coordinates
x=x + hx y Each position (x, y) is represented as (x, y, 1).
y=y
All transformations can be represented as matrix
multiplication.
x ' 1 hx x
y ' = 0 1 y Composite transformation becomes easier.

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Translation Rotation
in Homogenous Coordinates in Homogenous Coordinates
x=x+tx x=x cos - y sin
y y
y=y+ty y=x sin + y cos
P = (x,y)
x ' 1 0 t x x x ' cos sin 0 x P = (x,y)
y ' = 0 1 t y y ' = sin cos 0 y
y P = (x,y)
1 0 0 1 1 P = (x,y) 1 0 0 1 1

x x
P = T(tx , ty) P P = R( ) P
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Scaling Shear
in Homogenous Coordinates in Homogenous Coordinates
x=sx x x=x + hx y
y
y=sy y y=y
(x,y)

x ' s x 0 0 x x ' 1 hx 0 x
y ' = 0 s 0 y y ' = 0
y 1 0 y

1 0 0 1 1 (x,y)
1 0 0 1 1
x
P = S(sx , sy) P P = SHx P
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2D Geometric Transformations 2D Geometric Transformations
Translation Translation
Rotation Rotation
Scaling Scaling
Shear Shear
Homogenous Coordinates Homogenous Coordinates
Composite Transformations Composite Transformations
Rotation about a fixed point

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Rotation About a Fixed Point Rotation About a Fixed Point

1. Translate the object to the origin.

2. Rotate around the origin.
(xr ,yr) (xr ,yr)
3. Translate the object back.

1. Translate the object to the origin

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Rotation About a Fixed Point Rotation About a Fixed Point

(xr ,yr)

2. Rotate about origin 3. Translate the object back

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Rotation About a Fixed Point
1. Translate the object to the origin.
2. Rotate around the origin.
(xr ,yr)
3. Translate the object back.

1 0 xr cos sin 0 1 0 xr
3D Geometrical Transformations
0 1 y sin cos 0 0 1 y r
r
0 0 1 0 0 1 0 0 1
T(xr , yr) R( ) T(-xr , -yr)
P = T(xr , yr) R( ) T(-xr , -yr) P
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3D Geometric Transformations Translation

Basic 3D Transformations y
Translation x ' 1 0 0 tx x
y ' 0 1 0 ty y
Rotation = (x,y,z)
Scaling z ' 0 0 1 tz z
Shear
1 0 0 0 1 1 (x, y, z)
Composite 3D Transformations x
Change of Coordinate systems P = T P
z

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Rotation about z-axis Rotation about x-axis

x ' cos sin 0 0 x y x ' 1 0 0 0 x y
y ' sin cos 0 0 y y ' 0 cos sin 0 y
= =
z ' 0 0 1 0 z z ' 0 sin cos 0 z

1 0 0 0 1 1 1 0 0 0 1 1
x x
P = Rz() P P = Rx() P
z z

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Rotation about y-axis Rotation About a Fixed Point
x ' cos 0 sin 0 x y 1. Translate the object to the origin.
y ' 0 1 0 0 y 2. Rotate about the three axis, respectively.
=
z ' sin 0 cos 0 z 3. Translate the object back.

1 0 0 0 1 1 P = T (xr , yr, , zr) R T (-xr , -yr, , -zr) P
x
P = Ry() P R = Rx(x) Ry(y) Rz(z)
z

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Scaling Shear
y
x' sx 0 0 0 x x ' 1 0 hx 0 x
y ' 0 s y ' 0 1 hy 0 y
0 0 y
(x,y,z)
= y =
z ' 0 0 sz 0 z z ' 0 0 1 0 z
(x, y, z)
1 0 0 0 1 1 1 0 0 0 1 1
x
P = S P P = SHxy P
z

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Change in Coordinate Systems

y
y
y y x

x x
x z
z
z P = M P z

M can be a combination of translation,

rotation and scaling.

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