Topics to be Covered

Transformation

Matrix Representations and Homogenous Coordinates

Basic Transformations

Geometrical
Coordinate

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
P
y

x'
P'
y '

tx
T
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
Pivot point ( xr , yr)

Positive values of for counterclockwise rotation

Negative values of for clockwise rotation.

2-D Rotation
(x, y)
(x, y)

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
R
sin

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:

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.
2.
3.
4.
5.

Reflection along x axis

Reflection along y axis
Reflection relative to an axis perpendicular to the xy plane and
passing through the coordinate origin
Reflection of an object relative to an axis perpendicular to the xy
plane and passing through point P
Reflection of an object with respect to the line y=x

Reflection About x-Axis

y

P1

P2

Original
Image

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

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

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

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

1 shx 0
0 1 0

0 0 1

Shear relative to the y-axis

1 shy 0
0 1 0

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