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lecture10&11

lecture10&11

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Published by api-3754855
Transformations
Transformations

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Published by: api-3754855 on Oct 17, 2008
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05/09/2014

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1

Chapter 5: 2-D
Geometric
Transformations

Homogeneous coordinates &
reflection
Rotation about a fixed point
\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
original position by adding
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:
\ue000How can we eliminate addition?
\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
rotating the object 180oabout the
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

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