05 2d Transformations

2D Transformations
1
Reading
Required:
Hearn and Baker, Se tions 5.1{5.4, 5.6,
6.1{6.3, 6.5
Optional:
Foley , Chapter 5.1{5.5
et al.
David F. Rogers and J. Alan Adams,

Mathemati al Elements for Computer
Graphi s, Se ond edition, M Graw-Hill,

New York, 1990, Chapter 2.
2
2D drawing
Think of a program like PowerPoint,

Illustrator, Ma Draw...
Intera tively reate a number of primitives,
e.g., polygons and ir les.
Indi ate a front-to-ba k ordering.
S ale, translate, and rotate obje ts, as well
as group them together.
S roll or zoom the \ anvas" to look at
dierent parts of the drawing.
Generate an image and displays it on the
s reen.
3
2D drawing, ont'd
What are some of the key ingredients needed

to make this work?
Spe i ation of the front-to-ba k ordering.
A sequen e of geometri transformations,
some of them stored in hierar hies
orresponding to groups of primitives.
Denition of the \visible" portion of the
anvas.
A mapping from the visible portions of the
anvas to pixels on the s reen.
Software or hardware that is able to
\rasterize" the primitives, i.e., draw the
pixels orresponding to the primitives.
4
2D geometry pipeline
Let's think about this in terms of a set of

oordinate systems:
y1 y2
Model space
x1 x2 (Object space)
scale, translate,
yw rotate, ...
window
World space
(Object space)
xw
scale, translate
ys
1.0 Normalized device space
viewport
(Screen space)
xs
1.0 scale
yi Image space
(Window space)
(Raster space)
(Screen space)
xi (Device space)
5
Clipping
To avoid drawing primitives or parts of

primitives that do not appear in the viewport,
we perform \ lipping".
Clipping in ludes:
Removal of primitives wholly outside of the
viewport (a.k.a., \ ulling")
Interse tion of the viewport with primitives
that straddle the viewport boundary.
Clipping an happen:
In world spa e
In normalized devi e spa e
In image spa e
6
A simple OpenGL example
Here's an example of an OpenGL program

that will draw a bla k square over a white
ba kground:
makeADrawingWindow();
glOrtho(xw_min, xw_max, yw_min, yw_max, -1.0, 1.0);
glViewport(xi_min, yi_min, width_i, height_i);
glClearColor(1.0, 1.0, 1.0, 0.0);
glClear(GL_COLOR_BUFFER_BIT);
glColor3f(0.0, 0.0, 0.0);
glBegin(GL_POLYGON);
glVertex2f(0.0, 0.0);
glEnd();
glFlush();
For the remainder of this le ture, we will fo us

on 2D geometri transformations...
7
Representation
We an represent a point p = (x; y ) in the

plane
2 3
as a olumn ve tor 6 x 7
6
4
7
5
y
as a row ve tor

x y
8
Representation, ont.
We an represent a 2-D transformation M

by a matrix
2 3
6 a b 7
6 7
4 5
d
If p is a olumn ve tor, M goes on the left:

p
0
= M p
2 3 2 3 2 3
0
6 x 7 6 a b 7 6 x 7
6
4
7
0 5
= 6
4
7 6
5 4
7
5
y d y
If p is a row ve tor, M T goes on the right:

p
0
= pT
2 3

6 a 7
0
x y
0
= x y 6
4
7
5
b d
We will use olumn ve tors.
9
Two-dimensional transformations
Here's all you get with a 2 2 transformation

matrix M :
2 3 2 3 2 3
0
6 x 7 6 a b 7 6 x 7
6
4
7
0 5
= 6
4
7 6
5 4
7
5
y d y
So
x
0
= ax + by
y
0
= x + dy
We will develop some intima y with the

elements a; b; ; d. . . .
10
Identity
Suppose we hoose a = d = 1, b = = 0:
Gives the \identity" matrix
2 3
6
6
1 0 77
4 5
0 1
Doesn't move the points at all
11
S aling
Suppose we set b = = 0, but let a and d take

on any positive value:
Gives a \s aling" matrix
2 3
6 a
6
0 77
4 5
0 d
Provides dierential s aling in x and y :

x
0
= ax
y
0
= dy
12
Suppose we keep b = = 0, but let a and d go
negative.
Examples:
2 3 2 3
6
6
1 0 77 6
6
1 0 77
4 5 4 5
0 1 0 1
13
Now let's leave a = d = 1 and experiment
with . . . .
The matrix
2 3
6 1 0 7
6 7
4 5
1
gives:
x
0
= x
y
0
= x +y
Ee t is alled a \ ."
14
Ee t on unit square
Let's see how a general 2 2 transformation

M ae ts the unit square:
2 3 2 3 2 3
6 a b 7 6 0 1 1 0 77 6 0 a a +b b 7
6
4
7 6
5 4 5 = 6
4
7
5
d 0 0 1 1 0 + d d
15
Ee t on unit square, ont.
Observe:
Origin invariant under M
an be determined just by knowing how

M
the orners (1; 0) and (0; 1) are mapped

a and d give x- and y -s aling
b and give x- and y -shearing
16
Rotation
From our observations of the ee t on the unit

square, it should be easy to write down a
matrix for \rotation about the origin":
2 3
1 77
6
6
4
0
5 !
2 3
0 77
6
6
4
1
5 !
17
Limitations of the 2 2 matrix
A 2 2 matrix allows
S aling
Rotation
Re e tion
Shearing
Q: What important operation does that leave
out?
18
Homogeneous oordinates
Idea is to loft the problem up into 3-spa e,

adding a third omponent to every point:
2 3
2 3
6 x 7
!
6 7
6 x 7 6 7
6 7 6 y 7
4 5 6 7
6 7
y 4 5
1
And then2 transform

3 2
with a3 32 33 matrix:
6 1 0 m 7 6 x 7
0
6 x 7
6 7 6 7 6 7
6 7 6 7 6 7
6 y 7 = 6 0 1 n 7 6 y 7
0
6 7 6 7 6 7
6 7 6 7 6 7
4 5 4 5 4 5
w
0
0 0 1 1
. . . Gives translation!
19
Rotation about arbitrary points
Until now, we have only onsidered rotation

about the origin.
With homogeneous oordinates, you an

spe ify rotations about any point q with a
matrix:
1. Translate q to origin
2. Rotate
3. Translate ba k to q
Note: Transformation order is important!

20
Window-to-viewport transformation
How do we transform from the window in

world oordinates to the viewport in s reen
spa e?
yw
World space Normalized device
y space
s
ywmax
window
yvmax viewport
ywmin yvmin
xw xs
xwmin xwmax xvmin xvmax
21
Mathemati s of aÆne transformations
All of the transformations we've looked at so

far are examples of \aÆne transformations."
Here are some useful properties of aÆne

transformations:
Lines map to lines
Parallel lines remain parallel
Midpoints map to midpoints
(in fa t, ratios are always preserved)
22
Summary
What to take away from this le ture:

All the underlined names and names in
quotations.
How points and transformations are
represented.
What all the elements of a 2 2
transformation matrix do.
What homogeneous oordinates are and
how they work for aÆne transformations.
How to on atenate transformations.
The mathemati al properties of aÆne
trasnformations.
23

05 2d Transformations

Uploaded by

Copyright:

Available Formats

05 2d 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

05 2d Transformations

Uploaded by

Copyright:

Available Formats

2D Transformations

 David F. Rogers and J. Alan Adams,

Graphi s, Se ond edition, M Graw-Hill,

Think of a program like PowerPoint,

What are some of the key ingredients needed

Let's think about this in terms of a set of

To avoid drawing primitives or parts of

Here's an example of an OpenGL program

For the remainder of this le ture, we will fo us

We an represent a point p = (x; y ) in the

We an represent a 2-D transformation M

If p is a olumn ve tor, M goes on the left:

If p is a row ve tor, M T goes on the right:

We will use olumn ve tors.

Here's all you get with a 2 2 transformation

We will develop some intima y with the

 Doesn't move the points at all

Suppose we set b = = 0, but let a and d take

 Provides di erential s aling in x and y :

Let's see how a general 2 2 transformation

 an be determined just by knowing how

the orners (1; 0) and (0; 1) are mapped

From our observations of the e e t on the unit

Idea is to loft the problem up into 3-spa e,

And then2 transform

Until now, we have only onsidered rotation

With homogeneous oordinates, you an

Note: Transformation order is important!

How do we transform from the window in

All of the transformations we've looked at so

Here are some useful properties of aÆne

What to take away from this le ture:

You might also like

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

David F. Rogers and J. Alan Adams,

Doesn't move the points at all

Provides dierential s aling in x and y :

an be determined just by knowing how

From our observations of the ee t on the unit