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lecture10&11

# lecture10&11

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Transformations
Transformations

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05/09/2014

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Chapter 5: 2-D
Geometric
Transformations

Homogeneous coordinates &
reflection
\ue000The basic concept is to:
\ue001Align the coordinate to be
transformed according to
the fixed point.
\ue001Rotate it.
\ue001Move it back w.r.t. the
the fixed point in x\u2019 and y\u2019.
\u03b8
\u03c6
)
,
(
y
x
)
'
,
'
(
y
xr
r
(xf, yf)
x\u2019 = xf + (x \u2013 xf)cos\u03b8 \u2013 (y \u2013 yf)sin \u03b8
y\u2019 = yf + (x \u2013 xf)sin\u03b8 + (y \u2013 yf)cos \u03b8
SCALING WRT A FIXED POINT - ?
Homogeneous Coordinates
\ue000General matrix form for
translation/rotation/scale:
\ue000Homogeneous coordinates
\ue000Easiest:
2
1
'
M
P
M
P
+
\u22c5
=
)
,
,
(
h
y
x
h
h
h
y
y
h
x
x
h
h
=
=
,
1
=
h
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
\u22c5
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
=
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
1
1
0
0
1
0
0
1
1'
'
y
x
tt
y
x
yxP
t
t
T
P
y
x
\u22c5
=
)
,
(
'
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
\u22c5
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
\u2212
=
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
1
1
0
0
0
cos
sin
0
sin
cos
1'
'
y
x
yx
\u03b8
\u03b8
\u03b8
\u03b8
P
R
P
\u22c5
=
)
(
'
\u03b8
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
\u22c5
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
=
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
1
1
0
0
0
0
0
0
1'
'
y
x
s
s
y
x
y
x
P
s
s
S
P
y
x
\u22c5
=
)
,
(
'
TRANSLATION
ROTATION
SCALING
2
Inverse Transformations
\ue000Accomplished by the inverse of the matrix

\ue000Translation:
\ue000Rotation:
\ue000Scale:

\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
\u2212\u2212
=
\u2212
1
0
0
1
0
0
1
1
yx
tt
T
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
\u2212
=
\u2212
1
0
0
0
cos
sin
0
sin
cos
1
\u03b8
\u03b8
\u03b8
\u03b8
R
\ue000\ue000\ue000\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue003\ue003\ue003\ue004\ue005
=
\u2212
1
0
0
0
1
0
0
0
1
1
y
x
s
s
S
Reflection
\ue000Reflection is a transformation that
produces a mirror image of an object.
\ue000This mirror image is generated

relative to an axis of reflection by
reflection axis.

\ue000Axis of reflection can be any line

\ue001y = 0. \ue001x = 0. \ue001x = y. \ue001x=-y.

Reflection y = 0
x
y
1
2
3
'
1
'
2
'
3
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
\u22c5
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
\u2212
=
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
1
1
0
0
0
1
0
0
0
1
1'
'
y
x
y
x
Reflection x = 0
x
y
12
3
'
1
'
2
'
3
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005\u2212
=
\ue000\ue000\ue000\ue001\ue002
\ue003\ue003\ue003\ue004\ue005
1
1
0
0
0
1
0
0
0
1
1'
'
y
x
y
x