AML710 CAD LECTURE 5

2D TRANSFORMATIONS
(Contd.)

Sequence of operations, Matrix

multiplication, concatenation,
combination of operations

Types of Transformation
Affine Map: A map φ that maps E3 into itself is called an
affine Map if it leaves barycentric conditions invariant.
If x = ∑ β j a j , x, a j ∈ E 3
Then, φx = ∑ β jφa j φx, φa j ∈ E 3

Most of the transformations that are used to position or scale an object

in CAD are affine maps. The name was given by L. Euler and
studied systematically by A. Mobius
Euclidian Maps: Rigid body motions like rotation and
translation where lengths and angles are unchanged
are called Euclidian maps. This is a special case of
affine maps

1
 Transformation Groups and
Symmetries
Affine transformations are classified (Felix
Klein) as follows
Similarity Groups: Rigid motion and scaling
Eg: Congruent, similar
Symmetry Groups:Rotation, Reflection, Translation
1. No translation and no reflection – Circle group
Eg: a gear wheel
2. No translation and at least one reflection –
Dihedral group
3. Translation along one direction
4. Translation along more than one direction

Homogeneous coordinates of vertices

¾ A point in homogeneous coordinates (x, y, h), h ≠ 0,
corresponds to the 2-D vertex (x/h, y/h) in Cartesian
coordinates.
¾ Conceive that the Cartesian coordinates axes lies on
the plane of h = 1. The intersection of the plane and
the line connecting the origin and (x, y, h) gives the
corresponding Cartesianw coordinates.
(x, y, h)

y
(x/h, y/h, 1)
y
x
h=1
x
h=0

2
¾ For example, both the points (6, 9, 3) and (4, 6, 2)
in the homogeneous coordinates corresponds to
(2, 3) in the Cartesian coordinates.
Conversely, the point (2, 1) of the Cartesian
corresponds to (2, 1, 1), (4, 2, 2) or (6, 3, 3) of the
homogeneous system
h
6, 3, 3)

(4, 2, 2)
y
y (2, 1, 1)
x
h=1
x
h=0

Rotation
Consider the following figure where a position vector p(x,y)
which makes an angle φ to x-axis after transformation
to p’(x’,y’) makes an angle φ+θ degrees.
P’(x’,y’)

P(x,y)
P= [x y] = [rcosφ rsinφ]
θ
P’= [x’ y’] = [rcos(φ+θ ) rsin(φ+θ )] φ
= [r(cosφcosθ - sinφsinθ) r(cosφsinθ+ sinφcosθ) ]
Using the definition of x=rcosφ and y=rsinφ, we can write
P’= [x’ y’] = [x cosθ – y sinθ x sinθ +y cosθ ] or the transformation
matrix is
⎡ cos θ sin θ ⎤
[X ][T ] = [x y ]⎢
⎣− sin θ cos θ ⎥⎦

3
 Some Common Cases of Rotation
Rotation of 90° counter clockwise about the origin
cos θ sin θ ⎤ ⎡ 0 1⎤
[T ] = ⎡⎢ =
⎣− sin θ cos θ ⎥⎦ ⎢⎣− 1 0⎥⎦
Rotation of 180° counter clockwise about the origin
cos θ sin θ ⎤ ⎡− 1 0 ⎤
[T ] = ⎡⎢ =
⎣− sin θ cos θ ⎥⎦ ⎢⎣ 0 − 1⎥⎦

Rotation of 270° counter clockwise about the origin

cos θ sin θ ⎤ ⎡0 − 1⎤
[T ] = ⎡⎢ =
⎣− sin θ cos θ ⎥⎦ ⎢⎣1 0 ⎥⎦

In all the above cases det[T]=1

Reflection- Special case of Rotation

Reflection is a special case of rotation of 180°
about a line in xy plane passing through the
origin. Eg about y=0 (x-axis)

[T ] = ⎡⎢
1 0⎤
⎥
⎣0 − 1⎦

About x=0 (y-axis)

− 1 0⎤
[T ] = ⎡⎢ ⎥
⎣ 0 1⎦
About the lines x=y and x-y respectively are:
0 − 1⎤
[T ] = ⎡⎢ [T ] = ⎡⎢
0 1⎤
⎥ − ⎥
⎣ 0⎦
1 ⎣ 1 0⎦

4
 Reflection- Properties
If two pure reflections about a line passing through
the origin are applied successively the result is
a pure rotation.

The determinant of a pure reflection matrix is -1

− 1 0⎤
[T ] = ⎡⎢ ⎥
⎣ 0 1⎦

Properties of transformation Matrices

Det[T]=? In case of a) rotation, b) reflection.
What is the geometrical interpretation of inverse of
[T]?
Show that TT-1 = [I]
cos θ sin θ ⎤
[T ] = ⎡⎢
⎣− sin θ cos θ ⎥⎦
cos(−θ ) sin(−θ ) ⎤ ⎡cos θ − sin θ ⎤
[T ]−1 = ⎡⎢ ⎥=⎢ ⎥ =TT
⎣− sin(−θ ) cos(−θ )⎦ ⎣ sin θ cos θ ⎦

Thus for a pure rotation (det[T]=1) the inverse of T

is its transpose

5
 Example
Show that the following transformation
matrix gives a pure rotation
⎡1 − t 2 2t ⎤
⎢ ⎥
[T ] = ⎢1 + t 1+ t 2 ⎥
2

⎢ − 2t 1− t ⎥2

⎣⎢1 + t 2 1 + t 2 ⎦⎥

⎛ 1 − t 2 ⎞⎛ 1 − t 2 ⎞ ⎛ − 2t ⎞⎛ 2t ⎞
det[T ] = ⎜⎜ ⎟⎜
2 ⎟⎜
⎟−
2 ⎟ ⎜ 2 ⎟⎜ 2 ⎟
=1
⎝ 1 + t ⎠⎝ 1 + t ⎠ ⎝ 1 + t ⎠⎝ 1 + t ⎠

Example
A A unit square is transformed by a 2×2
transformation matrix. The resulting position
⎡0 0 ⎤
vectors are: ⎢ ⎥ 2 3⎥
[x ′] = ⎢
⎢8 4 ⎥
⎢ ⎥
⎣6 1 ⎦
Determine the transformation matrix used.
⎡0 0⎤ ⎡ 0 0 ⎤ ⎡0 0⎤
Ans: ⎢1 ⎥
0⎥ ⎡ a b ⎤ ⎢ a⎢ b ⎥⎥ ⎢⎢2 3⎥⎥ ⎡2 3⎤
[ x′] = [ X ][T ] = ⎢ ⎢ ⎥ = = ;∴[T ] = ⎢ ⎥
⎢1 1 ⎥ ⎣ c d ⎦ ⎢ a + c b + d ⎥ ⎢8 4⎥ ⎣ 6 1⎦
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣0 1⎦ ⎣ c d ⎦ ⎣6 1⎦

6
 Example
Show that the shear transformation in x and y
directions together is not the same as shear
along x followed by shear along y?

Ans:
⎡1 b ⎤ ⎡1 0⎤ ⎡1 + bc b ⎤ ⎡1 b ⎤
⎢0 1 ⎥ ⎢c 1 ⎥ = ⎢ c ≠
1⎥⎦ ⎢⎣c 1⎥⎦
⎣ ⎦⎣ ⎦ ⎣

⎡1 0⎤ ⎡1 b ⎤ ⎡1 b ⎤ ⎡1 b⎤
⎢c 1⎥ ⎢0 1⎥ = ⎢c 1 + bc ⎥ ≠ ⎢c 1⎥
⎣ ⎦⎣ ⎦ ⎣ ⎦ ⎣ ⎦

Example Problem
• Consider a triangle whose vertices are (2 2), (4 2) and (4 4). Find the
concatenated transformation matrix and the transformed vertices for
rotatation of 90 about the origin followed by reflection through the line
y = -x. Comment on the sequence of transformations.

⎡ 2 2⎤ ⎡ 2 2⎤ ⎡ − 2 2⎤
⎢ ⎥ ⎡ 0 1⎤ ⎡ 0 − 1⎤ ⎢ ⎥ ⎡ − 1 0⎤ ⎢ ⎥
[ X }[T1 }[T2 } = [ X }[T } = ⎢4 2⎥ ⎢ ⎥ ⎢ − 1 0 ⎥ = ⎢ 4 2⎥ ⎢ 0 1 ⎥ = ⎢ − 4 2⎥
− 1 0
⎢⎣4 4⎥⎦ ⎣ ⎦⎣ ⎦ ⎢ 4 4⎥ ⎣
⎣ ⎦
⎦ ⎢ − 4 4⎥
⎣ ⎦

For seeing the effect of changing the sequence of operations let us

reverse the order, i.e, first reflection and then rotation.
⎡ 2 2⎤ ⎡ 2 2⎤ ⎡ 2 − 2⎤
⎢ ⎥ ⎡ 0 − 1⎤ ⎡ 0 1⎤ ⎢ ⎥ ⎡1 0 ⎤ ⎢
[ X }[T2 }[T1 } = [ X }[T } = ⎢4 2⎥ ⎢ = 4 2⎥ ⎢ = 4 − 2⎥⎥
⎣ − 1 0 ⎥⎦ ⎢⎣− 1 0⎥⎦ ⎢ ⎣ 0 − 1⎥⎦ ⎢
⎢⎣4 4⎥⎦ ⎢⎣4 4⎥⎦ ⎢⎣4 − 4⎥⎦

7
 Example Problem: Solution

¾ Conduct a combination of transformations in

sequence (1,3)
¾ Translate the right-angle vertex
to the origin (Tx = -1, Ty = -1) (5,1)
(1,1)
⎡ x' ⎤ ⎡1 0 Tx ⎤ ⎡ x ⎤
⎢ y ' ⎥ = ⎢0 1 T ⎥ ⎢ y ⎥.
⎢ ⎥ ⎢ y ⎥⎢ ⎥
⎢⎣ w'⎥⎦ ⎢⎣0 0 1 ⎥⎦ ⎢⎣ w⎥⎦ (0,2)

¾ Rotate 45o (π/4 radian) (0,0) (4,0)

sin π/4 = cos π/4 = 0.7071

⎡ x" ⎤ ⎡cos θ − sin θ 0⎤ ⎡ x ' ⎤

⎢ y"⎥ = ⎢ sin θ (2.8,2.8)
⎢ ⎥ ⎢ cosθ 0⎥⎥ ⎢⎢ y ' ⎥⎥ (-1.4,1.4)
⎢⎣ w"⎥⎦ ⎢⎣ 0 0 1⎥⎦ ⎢⎣ w'⎥⎦

8
 ⎡ x" ⎤ ⎡cos θ − sin θ 0⎤ ⎡ x' ⎤ ⎡cos θ − sin θ 0⎤ ⎡1 0 Tx ⎤ ⎡ x ⎤
⎢ y"⎥ = ⎢ sin θ cos θ 0⎥⎥ ⎢⎢ y ' ⎥⎥ = ⎢⎢ sin θ cos θ 0⎥⎥ ⎢⎢0 1 Ty ⎥⎥ ⎢⎢ y ⎥⎥
⎢ ⎥ ⎢
⎢⎣ w"⎥⎦ ⎢⎣ 0 0 1⎥⎦ ⎢⎣ w'⎥⎦ ⎢⎣ 0 0 1⎥⎦ ⎢⎣0 0 1 ⎥⎦ ⎢⎣ w⎥⎦
⎡cos θ − sin θ Tx cos θ − Ty sin θ ⎤ ⎡ x ⎤
= ⎢⎢ sin θ cos θ Tx sin θ + Ty cos θ ⎥⎥ ⎢⎢ y ⎥⎥
⎢⎣ 0 0 1 ⎥⎦ ⎢⎣ w⎥⎦

¾ The computation of [ ] from [ ] [ ] is called

matrix multiplication. The general form is:
⎡a b ⎤ ⎡ e f ⎤ ⎡ae + bg af + bh ⎤
⎢c d ⎥ ⎢ g =
⎣ ⎦⎣ h ⎥⎦ ⎢⎣ ce + dg cf + dh ⎥⎦
¾ A sequence of transformations can be lumped in a
single matrix via matrix multiplications

¾ Scaling relative to a fixed point

(m, n)

1. Translate the point(-m, -n) to the origin

2. Scale the object by Sx, Sy scale factors
3. Translate the point back (m, n)
[T ] = [Tt ]−1 [S ][Tt ]
⎡1 0 m ⎤ ⎡ Sx 0 0⎤ ⎡1 0 − m⎤
[T ] = ⎢⎢0 1 n ⎥⎥ ⎢⎢ 0 Sy 0⎥⎥ ⎢⎢0 1 − n ⎥⎥ Column Vectors

⎢⎣0 0 1 ⎥⎦ ⎢⎣ 0 0 1⎥⎦ ⎢⎣0 0 1 ⎥⎦

9
¾ Rotation about an arbitrary point

(m, n)

[T ] = [Tt ][R][Tt ]−1

⎡ 1 0 0⎤ ⎡ cos θ sin θ 0⎤ ⎡ 1 0 0⎤
Row Vectors [T ] = ⎢ 0 1 0⎥⎥ ⎢⎢− sin θ
⎢ cos θ 0⎥⎥ ⎢⎢ 0 1 0⎥⎥
⎢⎣− m − n 1⎥⎦ ⎢⎣ 0 0 1⎥⎦ ⎢⎣m n 1⎥⎦

P =[x y h]
Rotation about an arbitrary point
1. Translate the point(-m, -n) to the origin P(m, n)
2. Rotate the object about the origin by θo
3. Translate back (m,n)

[T ] = [Tt ][R][Tt ]−1

⎡ 1 0 0⎤ ⎡ cos θ sin θ 0⎤ ⎡ 1 0 0⎤
[T ] = ⎢ 0 1 0⎥⎥ ⎢⎢− sin θ
⎢ cos θ 0⎥⎥ ⎢⎢ 0 1 0⎥⎥
⎢⎣− m − n 1⎥⎦ ⎢⎣ 0 0 1⎥⎦ ⎢⎣m n 1⎥⎦
Ex: Center of an object (4,3) , rotate it about the center by
90o CC
⎡ 0 1 0⎤ ⎡0 − 1 7 ⎤ ⎡ x ⎤
⎢
[x y 1]⎢− 1 0 0⎥ ⎥ OR ⎢1 0 − 1⎥ ⎢ y ⎥
⎢ ⎥⎢ ⎥
⎢⎣ 7 − 1 1⎥⎦ ⎢⎣0 0 1 ⎥⎦ ⎢⎣1 ⎥⎦

10
 y =mx+b
Reflection O(3)
Reflection is a special case
of rotation SO(3) when angel of rotation
is 180° about an axis in the plane b
θ
−1
θ = tan (m)
sin(180) = 0, cos(180) = −1

⎡1 0 0⎤
[T ] = ⎢⎢0 − 1 0⎥⎥
⎢⎣0 0 1⎥⎦

y =mx+b
Reflection about an arbitrary line
1. Translate (0, -b) so that the line
passes through the origin
2. Rotate the line about the x axis by -θo
b
3. Reflect object about the x axis θ
4. Rotate back the line by θo
5. Translate back (0,b)
θ = tan −1 (m)
[T ] = [Tt ][Tr ][R ][Tr ] [Tt ] −1 −1

⎡1 0 0 ⎤⎡ 2/ 5 1/ 5 0 ⎤ ⎡1 0 0⎤ ⎡2 / 5 −1 / 5 0 ⎤ ⎡1 0 0 ⎤ Alternate
[T ] = ⎢ 0 1 −2
⎥ ⎢ −1/ 5 2/ 5 0
⎥ ⎢0 −1 0
⎥ ⎢1/ 5 2/ 5 0
⎥ ⎢0 1 2
⎥ Method?
⎣0 0 1 ⎦⎣ 0 0 1 ⎦ ⎣0 0 1⎦ ⎣ 0 0 1 ⎦ ⎣0 0 1⎦

Ex: Reflect triangle (2,4),(4,6),(2,6) about line y = ( x + 4)

1
2

⎡3 / 5 4 / 5 −8 / 5 ⎤ ⎡2 4 2 ⎤ ⎡14 / 5 28 / 5 22 / 5 ⎤
⎢4 / 5 −3 / 5 16 / 5
⎥ ⎢4 6 6
⎥ = ⎢12 / 5 14 / 5 6 / 5
⎥
⎣0 0 1 ⎦ ⎣1 1 1 ⎦ ⎣ 1 1 1 ⎦

11
 Mid-point Transformation
Consider a straight line between
A(x1,y1) and B(x2,y2). Let us try A* M’ B*
E
to transform this line B
using a general a 2×2 transformation matrix
M
⎡a b ⎤
[T ] = ⎢ ⎥ F’
⎣c d ⎦ A
⎡ A *⎤ ⎡ A⎤ ⎡ x1 y1 ⎤ ⎡a b ⎤ ⎡ ax1 + cy1 bx1 + dy1 ⎤ ⎡ x1* y1* ⎤
⎢ B *⎥ = ⎢ B ⎥[T ] = ⎢ x =
y2 ⎥⎦ ⎢⎣ c d ⎥⎦ ⎢⎣ax2 + cy2
=⎢
bx2 + dy2 ⎥⎦ ⎣ x2*
⎥
⎣ ⎦ ⎣ ⎦ ⎣ 2 y2* ⎦
⎡ x* + x2* y1* + y2* ⎤ ⎡ ax1 + cy1 + ax2 + cy2
[x *
m ]
ym* = ⎢ 1
2 ⎦ ⎢⎣
⎥=
bx1 + dy1 + bx2 + dy2 ⎤
⎥⎦
⎣ 2 2 2
⎡ x +x y + y2 x +x y + y2 ⎤
= ⎢a 1 2 + c 1 b 1 2 +d 1 (1)
⎣ 2 2 2 2 ⎥⎦

⎡x + x y1 + y2 ⎤ ⎡a b ⎤ ⎡ x1 + x2 y + y2 x1 + x2 y + y2 ⎤
[x ' m y 'm ] = ⎢ 1 2 = a +c 1 +d 1 ( 2)
2 ⎥⎦ ⎢⎣ c d ⎥⎦ ⎢⎣
b
⎣ 2 2 2 2 2 ⎥⎦

Mid-point Transformation
From (1) and (2) we can conclude that by recursively
continuing this process, we will cover all A* M’ B*
E
points on the line AB and hence their B
images on A*B* by corresponding map.
M

A F’
But a general proof of end points transformation actually transforms
the whole line can be given usign the section formula. Any point m
that divides the line AB in the ratio p:q can be given as:

1
m= ( pb + qa)
p+q
Needless to say that the same is applicable to A*B*. The special case
of mid point transformation occurs when p:q=1.

12
 E’
Transformation of intersecting lines
When two intersecting lines are
transformed using A’ B’
E
general 2x2 transformation
B
matrix the resulting lines are
also intersecting
Consider 2 intersection lines F F’
y = m1 x + b1 A
y = m2 x + b2 ⎡ b −b b1m2 − b2 m1 ⎤
[X i ] = [xi
yi ] = ⎢ 1 2 ⎥
The point of intersection: ⎣ m2 − m1 m2 − m1 ⎦
⎡a b ⎤
Transformed point of ⇒ [X i ]⎢ ⎥
intersection: ⎣c d ⎦

⎡ a (b − b ) + c(b1m2 − b2 m1 ) b(b1 − b2 ) + d (b1m2 − b2 m1 ) ⎤

[x
'
i ]
yi' = ⎢ 1 2
m2 − m1 m2 − m1
⎥
⎣ ⎦

E’
Transformation of intersecting lines
Observe these points
A’ B’
In the last slide E
1. A pair of non-perpendicular lines B
get transformed to perpendicular lines

F F’
2. By inverse T-1 a pair of perpendicularA
lines can get transformed to non-perpendicular
lines
3. Such a result can have disastrous effect
on the resulting geometry

13
Transformation of two parallel lines
When two parallel lines are transformed using general 2x2
transformation matrix the resulting lines remain parallel
Consider 2 lines parallel to each other between the end
points A(x1,y1),B(x2,y2) and CD. Since they are parallel
the slope is the same given by y − y1
m= 2
x 2 − x1
a c ⎤ ⎡ x1 x 2 ⎤ ⎡ ax1 + cy1 ax 2 + cy 2 ⎤
[T ][X ] = ⎡⎢ ⎥⎢ =
⎣b d ⎦ ⎣ y1 y 2 ⎥⎦ ⎢⎣bx1 + dy1 bx 2 + dy 2 ⎥⎦
(bx2 + dy 2 ) − (bx1 + dy1 ) b( x 2 − x1 ) + d ( y 2 − y1 )
m′ = =
(ax 2 + cy 2 ) − (ax1 + cy1 ) a( x 2 − x1 ) + c( y 2 − y1 )
( y 2 − y)
b+d
( x 2 − x1 ) 1 b + dm
m′ = =
( y 2 − y1 ) a + cm
a+c
( x 2 − x1 )

Intersecting lines and rigid body transformations

When do perpendicular lines transform as perpendicular lines?
Consider the scalar(dot) and vector products of two vectors as follows

V1 .V2 =V1 xV2 x +V1 yV2 y = V1 V2 cosθ

( )v v
V1×V2 = V1 xV2 x −V1 yV2 y k = V1 V2 k sin θ

Let us now transform these vectors by general 2x2 T and find dot and
cross products again

⎡a c ⎤ ⎡V1x V2 x ⎤ ⎡ aV1x + cV1 y aV2 x + cV2 y ⎤

⎢b d ⎥ ⎢V V ⎥ = ⎢bV + dV bV2 x + dV2 y ⎥⎦
⎣ ⎦ ⎣ 1y 2x ⎦ ⎣ 1x 1y
2 2 2 2
(a + b )V1 xV2 x + ( c + d )V1 y V2 y + ( ac + bd )(V1 xV2 y + V1 y V2 x ) = V1′ V2′ cos θ
r r
( ad − bc )(V1 xV2 y − V2 xV1 y ) k = V1′ V2′ k sin θ

We require for magnitude and angle to remain unchanged

a
2
+b
2
= c
2
+d
2
= 1; ac + bd = 0; ad − bc = +1 OR T T [ ][ ]−1 = [T ][T ]T = [I ]

14
 Transformation of Unit square and area
Observe unit square being scaled and sheared along x
and y axes simultaneously

C’
D’ (a+c, b+d)
(c,d)
D C
(a,b)
B’
A B (o,0)
A’
⎡0 1 1 0 ⎤ ⎡ a c ⎤ ⎡ 0 1 1 0 ⎤ ⎡0 a a + c c⎤
P=⎢ ⎥ ; ′ = ⎢ b d ⎥ ⎢ 0 0 1 1 ⎥ = ⎢0 b b + d d ⎥⎦
and P
⎣0 0 1 1 ⎦ ⎣ ⎦⎣ ⎦ ⎣
1 1
A p = ( a + c )( b + d ) − 2 ( ab ) − 2 ( cd )

− c ( b + b + d ) − b ( c + a + c ) = ad −bc
2 2

= det[T ]

∴ A p = As det[T ]

Area Scaling example

A triangle with vertices (1,0), (0,1) and (-1,0) is
transformed by
⎡ 3 2⎤
[T ] = ⎢ ⎥
⎣ − 1 2⎦
Area Ai = 12 ( 2)(1) = 1 sq. units
Vertices after transformation are
⎡ 1 0⎤ ⎡3 2⎤
⎢ ⎥ ⎡ 3 2⎤ ⎢ ⎥
[ X ' ] = ⎢ 0 1⎥ ⎢ ⎥ = ⎢ −1 2 ⎥
− 1 2
⎢⎣− 1 0⎥⎦ ⎣ ⎦ ⎢ − 3 − 2⎥
⎣ ⎦

Transformed area,At = Ai 12 (4)(4) = 8 sq. units

15
 Geometrical Interpretation of Overall Scaling
⎡1 0 0⎤
[x * y * h] = [x y 1]⎢⎢0 1 0⎥⎥ = [x y s]
⎢⎣0 0 s ⎥⎦
⎡x y ⎤
⎢⎣ s 1
s ⎥⎦
=

h<1

h=1

h>1

Viewing Transformations
• It is a transformation from world CS to Screen CS. The
dimensions of the WCS may be in any chosen system of units SI
or FPS etc the latter is measured in pixels.
1. Translate the MCS base point to origin
2. Apply the scaling necessary to fit into the screen limits (xmin,ymin
and xmax ymax)
3. Move the base point back to its original position

[T ] = [Tt ][S ][Tt ]−1

⎡ uxmax −−uxmin 0 0 ⎤
⎡ 1 0 0 ⎤ ⎢ max min ⎥ ⎡ 10 0 0⎤
[T ] = ⎢ 0 1 0
⎥⎢ 0
vmax − vmin
y max − y min
0
⎥⎢ 1 2
⎥
⎣ − xmin − y min 1⎦
⎢⎣ 0 0 1 ⎥ ⎣u min vmin 1⎦
⎦

16
 Translation

• What are invariant?

– Lengths
– Angles
• Which transformation
group?
– Congruent
• det[T]=1

Translation + Dilation

• What are invariant?

– Ratio of Lengths
– Angles
• Which transformation
group?
– similarity
• det[T]=1

17
 Translation + Rotation
• What are the invariants?
• Lengths
• Angles
• Which transformation
group?
• Congruent
• det[T]=1

Reflection

• What are the invariants?

• Lengths
• Angles
• Which transformation
group?
• Congruent
• det[T] = -1

18
 Reflection+Translation=Glide

• What are the invariants?

• Lengths
• Angles
• Which transformation a
group? m

• Congruent
a
• det[T] = -1
• Glide= Rm+Ta=Ta+Rm

Shear Transformation

• What are invariant?

• parallelism
4

• Which transformation
5 10
group?
• affine
-2

-4

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 Projective Transformation

• What are invariant?

• Incidence
4

• Cross ratios of
lengths 2

• Order of curves 5 10

-2

-4

Isometries of a Square
• How many isometries? Cayle Table of isometries of a square
• identity i 90 180 270 H V D1 D2

• Rotational I i 90 180 270 H V D1 D2

• Reflection 90 90 180 270 i D1 D2 V H

180 180 270 i 90 V h D2 D1

i 90 180 270 270 270 i 90 180 D2 D1 H V

H H D2 V D1 i 180 270 90

h v D1 D2 V V D1 H D2 180 i 90 270

D1 D1 H D2 V 90 270 i 180

D2 D2 V D1 H 270 90 180 i

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 Transformations Possible in different
Geometries
Transformation / Euclidian Similarity Affine Projective
Geometries
Rotation 3 3 3 3
Translation 3 3 3 3
Uniform Scaling U 3 3 3
Non-uniform Scaling U U 3 3
Shear U U 3 3
Central Projection U U U 3

Invariant Quantities in different Geometries

Transformation / Euclidian Similarity Affine Projective

Geometries
Lengths 3 U U U
Angles 3 3 U U
Ratios of Lengths 3 3 U U
Parallelism 3 3 3 U
Incidence 3 3 3 3
Cross-ratios of 3 3 3 3
Lengths

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