CS 4300 Computer Graphics: Prof. Harriet Fell Fall 2012 - September 27, 2012

CS 4300
Computer Graphics
Prof. Harriet Fell
Fall 2012
Lecture 11 – September 27, 2012
September 30, 2019 ©College of Computer and Information Science, Northeastern University 1
Today’s Topics
• Linear Algebra Review
 Matrices
 Transformations
• New Linear Algebra
 Homogeneous Coordinates
Matrices
 c11 c12 c13 c14 
 b11 b12 b13  c
 a11 a12  c23 c24 
B  b21 b22 b23 
c22
A  C  21 
    c31 c32 c33 c34 
 21 22 
a a
b31 b32 b33   
 c41 c42 c43 c44 
• We use 2x2, 3x3, and 4x4 matrices in computer

graphics.
• We’ll start with a review of 2D matrices and
transformations.
Basic 2D Linear Transforms
 a11 a12   x   a11 x  a12 y 

a 
 21 a22   y  a21 x  a22 y 
  
 a11 a12  1  a11   a11 a12  0  a12 

a      a     
 21 a22  0 a21   21 a22  1 a22 
Scale by .5
scale .5,.5 
.5 0 
 0 .5
 
(1, 0) (0.5, 0)
(0, 1)
(0, 0.5)
Scaling by .5
y y
0.5 0 
 0 0.5
 
x x
General Scaling
y y
 sxs 00 1  sx0

 0 x s   0   
  0 ysy 01  0sy 
   
x x
General Scaling
y y
scale  sx , s y  
1
sy
 sx 0
0 s y 

x x
1 sx
Rotation

rot  
 cos    sin   
 
 sin   cos   
  φ sin(φ)
cos(φ)
-sin(φ)
φ cos(φ)
Rotation
y

rot  
y
 cos    sin   
 
 sin   cos   
 
φ
x x
Reflection in y-axis
reflect-y 
 1 0
 0 1
 
Reflection in y-axis
y y
reflect-y 
 1 0
 0 1
 
x x
Reflection in x-axis
reflect-x 
1 0 
0 1
 
Reflection in x-axis
y y
reflect-x 
1 0 
0 1
 
x x
Shear-x
shear-x  s  
1 s 
 0 1
 
Shear x
y y
1 s 
 0 1
 
x x
Shear-y
shear-y  s  
1 0 
 s 1
 
s
Shear y
y y
1 0
 s 1
 
x x
Linear Transformations
• Scale, Reflection, Rotation, and Shear are
all linear transformations
• They satisfy: T(au + bv) = aT(u) + bT(v)
 u and v are vectors
 a and b are scalars
• If T is a linear transformation
 T((0, 0)) = (0, 0)
Composing Linear
Transformations
• If T1 and T2 are transformations
 T2 T1(v) =def T2( T1(v))
• If T1 and T2 are linear and are represented
by matrices M1 and M2
 T2 T1 is represented by M2 M1
 T2 T1(v) = T2( T1(v)) = (M2 M1)(v)
Reflection About an
Arbitrary Line (through the origin)
y y
x x
Reflection as a Composition
y
Decomposing
Linear Transformations
• Any 2D Linear Transformation can be
decomposed into the product of a rotation,
a scale, and a rotation if the scale can
have negative numbers.
• M = R1SR2
Rotation about
an Arbitrary Point
y y
φ φ
x x
This is not a linear transformation. The origin moves.

Translation
y (x, y)(x+a,y+b) y
(a, b)
x x
This is not a linear transformation. The origin moves.

Homogeneous Coordinates
y
y Embed the xy-plane in R3 at z = 1.

(x, y)  (x, y, 1)
2D Linear Transformations
as 3D Matrices
Any 2D linear transformation can be
represented by a 2x2 matrix
 a11 a12   x   a11 x  a12 y 
a     
 21 22   y   21
a a x  a 22 
y
or a 3x3 matrix
 a11 a12 0  x   a11 x  a12 y 
a a 0   y   a x  a y 
 21 22     21 22 
 0 0 1  1   1 
2D Linear Translations
as 3D Matrices
Any 2D translation can be represented by
a 3x3 matrix.
1 0 a   x   x  a 
0 1 b   y    y  b
    
0 0 1   1   1 
This is a 3D shear that acts as a

translation on the plane z = 1.
Translation as a Shear
y
2D Affine Transformations
• An affine transformation is any transformation
that preserves co-linearity (i.e., all points lying on
a line initially still lie on a line after
transformation) and ratios of distances (e.g., the
midpoint of a line segment remains the midpoint
after transformation).
• With homogeneous coordinates, we can
represent all 2D affine transformations as 3D
linear transformations.
• We can then use matrix multiplication to
transform objects.
Rotation about
an Arbitrary Point
y y
φ φ
x x
Rotation about
an Arbitrary Point
y
T(cx, cy) R(φ)T(-cx, -cy)
φφ
φφ
x
Windowing Transforms
(A,B)
(a,b) translate (A-a,B-b)
scale
(C,D)
(C-c,D-d)
translate (c,d)
3D Transformations
Remember: x
x  y
 y   
  z
 z   
1
A 3D linear transformation can be represented by a
3x3 matrix.
 a11 a12 a13 0
 a11 a12 a13  a
a  a22 a22 0
a a23   21 
 21 22   a31 a32 a33 0
 a31 a32 a33   
0 0 0 1
3D Affine Transformations
 sx 0 0 0
0 0
scale  sx , s y , sz   
sy 0

0 0 sz 0
 
0 0 0 1
1 0 0 tx 
0 0 ty 
translate  t x , t y , t z   
1

0 0 1 tz 
 
0 0 0 1
3D Rotations
1 0 0 0
0 cos    sin   0
rotate x     
0 sin   cos   0
  cos  
 0 sin   0
0 0 0 1
 
 0 1 0 0
rotate y   
  sin   0 cos   0
cos    sin   0 0  
   0 0 0 1
rotatez     sin   cos   0 0 
 0 0 1 0
 
 0 0 0 1

CS 4300 Computer Graphics: Prof. Harriet Fell Fall 2012 - September 27, 2012

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CS 4300 Computer Graphics: Prof. Harriet Fell Fall 2012 - September 27, 2012

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CS 4300

• We use 2x2, 3x3, and 4x4 matrices in computer

 a11 a12   x   a11 x  a12 y 

 a11 a12  1  a11   a11 a12  0  a12 

 sxs 00 1  sx0

This is not a linear transformation. The origin moves.

This is not a linear transformation. The origin moves.

y Embed the xy-plane in R3 at z = 1.

This is a 3D shear that acts as a

(a,b) translate (A-a,B-b)

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