Topics to be Covered

 Transformation
 Geometrical
 Coordinate
 Matrix Representations and Homogenous Coordinates
 Basic Transformations
 Translation
 Rotation
 Scaling
 Reflection
 Shearing
 Composite Transformations

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Transformation

 Simulated spatial manipulation is referred as

Transformation
 Two types
 Geometric

 Coordinate
Translation
 Displacement of an object in a given distance and direction from its original
position.
 Rigid body transformation that moves object without deformation

 Initial Position point P (x, y)

 The new point P’ (x’, y’)

where
x’ = x + tx
y’ = y + ty
tx and ty is the displacement in x and y respectively.

The translation pair (tx, ty) is called a translation vector or shift vector
P’
(x’,y’)

P(x,y)
TRANSLATION

 Matrix representation

 x  x' tx 
P  P'    T  
 y  y ' ty 
Rotation

 Rotation is applied to an object by repositioning it

along a circular path in the xy plane.
 To generate a rotation, we specify
 Rotation angle θ
 Pivot point ( xr , yr)

 Positive values of θ for counterclockwise rotation

 Negative values of θ for clockwise rotation.
2-D Rotation

(x’, y’)

(x, y)

Ф
2-D Rotation
x = r cos (f)
y = r sin (f)
x’ = r cos (f + )
y’ = r sin (f + )

Trig Identity…
x’ = r cos(f) cos() – r sin(f) sin()
y’ = r sin(f) sin() + r cos(f) cos()

Substitute…
x’ = x cos() - y sin()
y’ = x sin() + y cos()
2-D Rotation

x’ = x cos() - y sin()
y’ = x sin() + y cos()
Matrix representation
P'  R  P

cos   sin  
R 
 sin  cos  
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Scaling
 Scaling alters the size of an object .
 Operation can be carried out by multiplying each of its
components by a scalar
 Uniform scaling means this scalar is the same for all
components:

2
Scaling

 Non-uniform scaling: different scalars per component:

X  2,
Y  0.5
Scaling

x’ = x* sx
y’ = y * sy

In matrix form:

 x'  sx 0   x 
 y '   0 sy  y 
    
Homogenous Coordinate System

 Allows us to express all transformation equations as

matrix multiplications , providing that we also
expand the matrix representations for coordinate
positions.
Reflection

 A reflection is a transformation that produces a

mirror image of an object
 Generated relative to an axis of reflection
1. Reflection along x axis
2. Reflection along y axis
3. Reflection relative to an axis perpendicular to the xy plane and
passing through the coordinate origin
4. Reflection of an object relative to an axis perpendicular to the xy
plane and passing through point P
5. Reflection of an object with respect to the line y=x
Reflection About x-Axis
y P1
Original
Image

P2 P3

x
P2’ P3’

Reflected Image
P1’
 Reflection About x-Axis

 Reflection about x-axis

1 0 0
 
M  0  1 0 
0 0 1

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Reflection About y-axis
Original
Image

Reflected
Image

y
 Reflection About y-axis

 Reflection about y-axis

  1 0 0

M   0 1 0 
 0 0 1

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Reflection relative to an axis perpendicular to the xy plane and passing through the
coordinate origin

Reflected
Image

Original
Image

y
 Reflection relative to an axis perpendicular to the xy plane and passing through the
coordinate origin

 Reflection about the origin point

  1 0 0
 
M   0  1 0
 0 0 1

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Reflection of an object with respect to the line y=x

Original
Image
Reflected
Image

x
 Reflection of an object with respect to the line y=x

 Reflection about with respect to line y=x

0 1 0 

M  1 0 0 
0 0 1

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Shearing

 A transformation that distorts the shape of an

object such that the transformed object appears as
if the object were composed of internal layers that
had been caused to slide over each other.
Shearing
 Shear relative to the x-axis • Shear relative to the y-axis

1 shx 0 1 shy 0
0 1 0  0 1 0 
   
0 0 1 0 0 1
Composite Transformations

 For a sequence of transformations , composite

transformation matrix could be setup by the matrix
product of the individual transformations
 Also referred as Concatenation or Composition of
Matrices