Computer Graphics

2D transformations
y

y
x

2D Transformation
Given a 2D object, transformation is to change the
objects

Position (translation)
Size (scaling)
Orientation (rotation)
Shapes (shear)

Apply a sequence of matrix multiplication to the

object vertices
2

Point representation
We can use a column vector (a 2x1 matrix) to
represent a 2D point
x
y
A general form of linear transformation can be
written as:
x = ax + by + c
OR
y = dx + ey + f

X
Y =
1

a
d
0

b
e
0

c
f
1

x
y
1

Transformations
instantiation
world
train

animation

viewing
image

wheel
modelling
4

Why transformation?
Model of objects
world coordinates: km, mm, etc.
Hierarchical models::
human = torso + arm + arm + head + leg + leg
arm = upperarm + lowerarm + hand

Viewing
zoom in, move drawing, etc.

Animation
5

Translation
Translate over vector (tx, ty)
x=x+ tx, y=y+ ty
or
P' P T, with

y
T

P+T

P
x

tx
x'
x
P ' , P and T
y'
y
ty
6

Translation
How to translate an object with multiple
vertices?

Translate individual
vertices

Translation polygon
Translate polygon:
Apply the same operation
on all points.
Works always, for all
transformations of
objects defined as a set
of points.

y
T
x

Rotation
(x,y) -> Rotate about the origin by
(x, y)
How to compute (x, y) ?

(x,y)

(x,y)

x = r cos () y = r sin ()
x = r cos () y = r sin ()
9

Rotation
(x,y)

x = r cos () y = r sin ()
x = r cos () y = r sin ()
x = r cos ()
= r cos() cos() r sin() sin()

(x,y)

= x cos() y sin()
y = r sin ()
= r sin() cos() + r cos()sin()
= y cos() + x sin()
10

Rotation
(x,y)

x = x cos() y sin()
y = y cos() + x sin()

(x,y)

Matrix form?
x
y

cos()
sin()

-sin()
cos()

x
y

11

Rotation
Rotate over an angle :
x' x cos y sin

y
P

y ' x sin y cos

Or
P' RP, with
x'
cos
P ' , R
y'
sin

P
x

sin

x
and P
cos
y
12

Rotation around a point Q

Rotate around origin :
Px ' Px cos Py sin
Py ' Px sin Py cos

y
P
P
PQ
Q

Rotate around Q over an angle :

Px ' Qx ( Px Qx ) cos ( Py Q y ) sin

Py ' Q y ( Px Qx ) sin ( Py Q y ) cos

13

Rotation

How to rotate an object with multiple

vertices?

Rotate individual
Vertices

14

Scaling
Schale with factor sx and sy:

y
P

x= sx x, y= sy y
P

or

P' SP, with

sx
x'
P ' , S
0
y'

0
x
and P
s y
y
15

Scaling with respect to a point F

Scale with factors sx and sy:

Px= sx Px, Py= syPy

With respect to F:
Px Fx = sx (Px Fx),
Py Fy = sy (Py Fy)

P
PF
F

Q
Q
x

or
Px= Fx + sx (Px Fx),
Py= Fy + sy (Py Fy)
16

Transformations
Translate with V:
T = P+ V

Schale with factor sx = sy =s:

S = sP

Rotate over angle

S
T

R
P

Rx = cos Px sin Py
Ry = sin Px + cos Py
17

Transformations
Messy!
Transformations with respect to points:
even more messy!
How to combine transformations?

18

Homogeneous coordinates 1
Uniform representation of translation,
rotation, scaling
Uniform representation of points and
vectors
Compact representation of sequence of
transformations

19

Homogeneous coordinates 2
Add extra coordinate:
P = (px , py , ph) or
x = (x, y, h)
Cartesian coordinates: divide by h
x = (x/h, y/h)
Points: h = 1 (for the time being), vectors: h = 0
The point (x,y) needs to be represented as
(x,y,1) --> this is called Homogeneous
coordinates!
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Translation matrix
Translation :
x' 1 0 t x

y' 0 1 t y
1 0 0 1

or
P ' T(t x , t y )P

x

y
1

21

Rotation matrix
Rotation :
x' cos

y ' sin
1 0

or
P ' R ( )P

sin
cos
0

0
1

x

y
1

22

Scaling matrix
Scaling :
x' s x

y' 0
1 0

or

0
sy
0

0
1

x

y
1

P ' S( s x , s y ) P

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Inverse transformations
Translation :
T -1 (t x , t y ) T(t x ,t y )
Rotation :
R -1 ( ) R ( )
Scaling :
1 1
S ( s x , s y ) S( , )
sx s y
1

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Combining transformations 1
P' M1P

first transformation...

P '' M 2 P '

second transformation...

Combined :
''

P M 2 (M 1P)
M 2M 1P
MP with M M 2 M 1
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Combining transformations 2
P ' T(t1x , t1 y )P

first translation

P '' T(t 2 x , t 2 y )P '

second translation

Combined :
P '' T(t 2 x , t 2 y )T(t1x , t1 y )P
1 0 t 2 x 1 0 t1x

0 1 t 2 y 0 1 t1 y P
0 0 1 0 0 1

T(t1x t 2 x , t1x t 2 y )P

1 0 t1x t 2 x

0 1 t1 y t 2 y P
0 0

26

Combining transformations 3
Composite translations :
T(t 2 x , t 2 y )T(t1x , t1 y ) T(t1x t 2 x , t1x t 2 y )
Composite rotations :
R ( 2 ) R (1 ) R (1 2 )
Composite scaling :
S( s2 x , s2 y )S( s1x , s1 y ) S( s1x s2 x , s1 y s2 y )
27

Rotation around a point 1

Rotate over angle around point R :
1) Translate such that R coincides with origin;
2) Rotate over angle around origin;
3) Translate back.
R

1)

2)

3)
28

Rotation around a point 2

Rotate over angle around point R :
1) P ' T( Rx , R y )P
''

2) P R( )P

'

3) P ''' T( Rx ,R y )P ''
R

1)

2)

3)
29

Rotation around point 3

1) P ' T( Rx , R y )P
2) P '' R( )P ' R( )T( Rx , R y )P
3) P ''' T( Rx ,R y )P ''
T( Rx ,R y )R( )P '
T( Rx ,R y )R( )T( Rx , R y )P

1)

2)

3)
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Rotation around point 4

1 - 3) P ''' T( Rx ,R y )R( )T( Rx , R y )P
or
cos
'''
P sin
0

sin

Rx (1 cos ) R y sin

cos
0

R y (1 cos ) Rx sin P

1)

2)

3)
31

Scaling w.r.t. point 1

Scale with factors s x and s x w.r.t. point F :
1) Translate such that F coincides with origin;
2) Schale w.r.t. origin;
3) Translate back again.
F

1)

2)

3)
32

Scaling w.r.t.point 2
Schale w.r.t. point F :
1) P ' T( Fx , Fy )P
2) P '' S( s x , s y )P '
3) P ''' T( Fx ,Fy )P ''
F

1)

2)

3)
33

Scaling w.r.t.point 3
1 - 3) P ''' T( Fx ,Fy )S( s x , s y )T( Fx , Fy )P
or
sx
'''
P 0
0

0
sy
0

Fx (1 s x )

Fy (1 s y ) P

1)

2)

3)
34

Scale in other directions 1

Scale with factors s1 and s2 w.r.t. rotated frame :
1) Rotate such that frame coincides with standard xy - frame;
2) Scale w.r.t. origin;
3) Rotate back again.

1)

2)

3)
35

Scale in other directions 2

Scale in other direction :
1) P ' R( )P
2) P '' S( s1 , s2 )P '
3) P ''' R( )P ''

1)

2)

3)
36

Scale in other directions 3

1 - 3) P ''' R( )S( s1 , s2 )R( )P
or
s1 cos 2 s2 sin 2

'''
P ( s2 s1 ) cos sin

1)

2)

( s2 s1 ) cos sin
s1 sin 2 s2 cos 2
0

0
0 P

3)
37

Order of transformations 1
Rotation, translation

Translation, rotation
y

y
x

Matrix
multiplication
does
not
commute.
x
' ' R(30)T(2,3)x
x' ' T(2,3)R(30)x
The order of transformations makes a difference!
38

Matrices in general
P ' MP , or

rotation and scaling

translation

x' rs xx rs xy trs x x


y ' rs yx rs yy trs y y , or

1
0 1 1
0
x' rs xx x rs xy y trs x
y ' rs yx x rs yy y trs y
39

Direct construction of matrix

If you know the target frame:
Construct matrix directly.

Define shape in nice local

u,v coordinates, use matrix
transformation to put it
in x,y space.

T
x

40

Direct construction of matrix

If you know the target frame:
Construct matrix directly.
P ' Au Bv T , or
x
u


y A B T v
1
1


x Ax Bx Tx

y Ay B y T y
1 0

0
1

y
v

, or
u

v

T
x

1

41

Rigid body transformation

only rotation

P ' MP , of
x rxx

y ryx
1 0

rxx

ryx

rxy
ryy
0

trx

try
1

translation

u

v
1

rxy
: orthonormal submatrix
ryy

rxx
rxy
and B
, | A | 1, | B | 1, A B 0
A

ryx
ryy

y
u

B
T

A
x

42

Other 2D transformations
Reflection
Shear
Can also be combined

43

Reflection over axis

Reflext over x-axis:
x= x, y= y
or
1 0 0

P' 0 1 0 P
0 0 1

44

Reflect over origin

Reflect over origin:
x= x, y= y
or
1 0 0

P' 0 1 0 P
0 0 1

Same as P' R (180)P

45

Shear
Shear the y-as:
x=x+fy, y=y
or
1 f 0

P' 0 1 0 P
0 0 1

with f tan
46

Thank You

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