Review

2D Transformations

Matrix Composition

Homogeneous . . .

Special . . .

Summary Computer Graphics 4:

Exercise 3
2D Geometrical Transformations
Jon Sporring
mailto:sporring@lab3d.odont.ku.dk

October 23, 2001

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Jon
c Sporring

ITU, Copenhagen
Review

2D Transformations

Matrix Composition 1. Review

Homogeneous . . .

Special . . .
Last lecture covered Foley et al. pp. 91–99, 110–127, and 132–140
Summary
on:
Exercise 3

• Filling Polygons
• Clipping
• Antialiasing

In this lecture we’ll discuss Foley et al. pp. 201–213 on

• 2D transformations
• Matrix Composition
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• Special Transformations
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Jon
c Sporring

ITU, Copenhagen
Review

2D Transformations

Matrix Composition 2. 2D Transformations

Homogeneous . . .

Special . . .
Consider the implicit surface:
Summary

Exercise 3 F (x, y) = ax + by + c

where F (x, y) = 0 is a line.

Two linear equations (in x and y)

F = ax + by + c,
G = dx + ey + f.

Another way of writing this is

      
F a b x c
= + .
G d e y f
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This is a affine (linear) transformation of ~x into F~ .
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ITU, Copenhagen
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2D Transformations

Matrix Composition 2.1. Translation and Rotation

Homogeneous . . .

Special . . . To gain intuition about the 6 parameters a, b, c, d, e, f reconsider

Summary the equation(s):
Exercise 3       
F a b x c
= + .
G d e y f
Some typical 2-dimensional linear transformations are:

Translation: Point [x, y]T is translated by [c, f ]T when

      
F 1 0 x c
= + .
G 0 1 y f

Scaling: Points [x, y]T are scaled by a and e when

      
F a 0 x 0
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= + .
G 0 e y 0
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Rotation: Points [x, y]T are rotated by θ when
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F cos(θ) − sin(θ) x 0
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G sin(θ) cos(θ) y 0
Jon
c Sporring

ITU, Copenhagen
Review

2D Transformations

Matrix Composition 2.2. Mini Exercise: Concatenating Transformations

Homogeneous . . .

Special . . . 1. Assume you are given a set of points [xi , yi ]T , and that the
Summary centroid (mean point) is [mx , my ]. How would you rotate
Exercise 3 the points [xi , yi ]T around the centroid?
2. How would you scale points [xi , yi ]T with constants k1 along
pi/4 and k2 along 3pi/4.
3. Can
 the
 above be written as a single matrix transformation
a b
?
d e

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ITU, Copenhagen
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2D Transformations

Matrix Composition 3. Matrix Composition

Homogeneous . . .

Special . . .
   
a11 a12 b11 b12
Summary In general given two matrices, A = and B = ,
a21 a22 b21 b22
Exercise 3
the sequential operation of first multiplying by A and then by
B,

x~0 = A~x,
x~00 = Bx~0 = BA~x,

may be written as a single matrix multiplication

x~00 = C~x,

with  
b11 a11 + b12 a21 b11 a12 + b12 a22
C=
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cij = bik akj
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k
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Jon
c Sporring

ITU, Copenhagen
Review

2D Transformations

Matrix Composition 4. Homogeneous Coordinates

Homogeneous . . .

Special . . .
In the above, translation is treated as addition while rotation
Summary
and scaling is treated as multiplication:
Exercise 3

p~0 = ~t + p~
p~0 = S~p
p~0 = R~p

This is notationally inconvenient. Introducing homogeneous co-

ordinates:     
F a b c x
G = d e f  y 
1 0 0 1 1

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ITU, Copenhagen
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2D Transformations

Matrix Composition 4.1. Mini Exercise: Homogeneous Coordinates

Homogeneous . . .

Special . . . 1. Given a scaling matrix

Summary
 
s1 0 0
Exercise 3
S(s1 , s2 ) =  0 s2 0
0 0 1
and a translation matrix
 
1 0 t1
T(t1 , t2 ) = 0 1 t2 
0 0 1
is the transformation
ST~x = TS~x ?

2. Show that two successive rotations using a rotation ma-

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trix in homogeneous coordinates are additive (commuta-
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tive). Hint:
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cos(α + β) = cos(α) cos(β) − sin(α) sin(β)
Jon
c Sporring

ITU, Copenhagen
Review

2D Transformations

Matrix Composition 4.2. Commuting Transformations

Homogeneous . . .

Special . . . Matrix composition is generally not

Ap ABp = BAp?
Summary commutative, i.e. given two arbi-
Exercise 3 trary matrices A and B: AB 6= B
BA. The concept of commuta- A A
tive transformations is sometimes B
depicted as a graph. p Bp

A few exceptions exist:

A B
Translation Translation
Scaling Scaling
Rotation Rotation
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Rotation Scaling (s1 = s2 )
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Translation Centroid Rotation
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Translation Centroid Scaling
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Jon
c Sporring

ITU, Copenhagen
Review

2D Transformations

Matrix Composition 5. Special Transformations

Homogeneous . . .

Special . . .
Transformations are typically grouped by their action. Consider
Summary
the matrix,
Exercise 3
 
a b c
d e f ,
0 0 1
and the 2 × 2 submatrix:
 
a b
A= .
d e

Orthogonal (Rigid Body)

The matrix A is said to be orthogonal when the vectors
[a, b]T and [d, e]T are perpendicular and have unit length.
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Preserves lengths and angles.
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Arbitrary composition of Translation, Scaling, Rotation, and
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Shear.
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Preserves parallel lines.
Jon
c Sporring

ITU, Copenhagen
Review

2D Transformations

Matrix Composition 5.1. Shear: Affine, not Orthogonal

Homogeneous . . .

Special . . . An example of a transformation that is affine but not orthogonal

Summary is Shear:  
Exercise 3 1 b 0
H = 0 1 0 ,
0 0 1

Scale Shear

Rotate

Rotate
Non−uniform scale
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ITU, Copenhagen
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2D Transformations

Matrix Composition 5.2. Mini Exercise: Orthogonal

Homogeneous . . .

Special . . . 1. Is the Rotation matrix Orthogonal?

Summary

Exercise 3

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ITU, Copenhagen
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2D Transformations

Matrix Composition 6. Summary

Homogeneous . . .

Special . . .
This lecture covered Foley et al. pp. 201–213 on:
Summary

Exercise 3
• 2D Transformation
• Matrix Composition
• Homogeneous Coordinates
• Special Transformations

Next will be Foley et al. pp. 213–237, 253–281 on:

• 3D Transformation

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• Implementation
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• Coordinate Systems
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Jon
c Sporring

ITU, Copenhagen
Review

2D Transformations

Matrix Composition 7. Exercise 3

Homogeneous . . .

Special . . .
The purpose of this exercise is to familiarize the student with 2D
Summary
matrix programming.
Exercise 3

1. Write a program to rotate a set of points an arbitrary angle

around the centroid.
2. Write a program that draws a polygon of your choice, and
produce an animation, where the polygon is incrementally
rotated around the centroid.

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Jon
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ITU, Copenhagen