Transformations

Transformations

2D-to-2D (image-to-image)

3D-to-3D (world-to-world)

3D-to-2D (camera model)

2D-to-3D (shape from X)

Shape from Stereo

Shape from Shading

Shape from Texture

Structure from Motion
 Points

World points are 3-Dimensional
P = [X, Y, Z]T

Or in homogeneous coordinates
P = [hX, hY, hZ, h]T

Image points are 2-Dimensional
p = [x, y]T

Or in homogeneous coordinates
p = [hx, hy, h]T

Points
y
y

x
z (1,5,2)T or
(10, 50, 20, 10)T
(5, 6)T or
x
(10, 12, 2)T
 Transformations

To define a point, we have to define a
coordinate system

Transformations are functions that
convert points from one coordinate
system to another

Translation, Rotation, Shear, Scaling…

2-D Transformations

Scaling
Original
Translation

Rotation Shear
 2D Transformation

Definition: A mapping from one 2D
coordinate system to another

Also called

spatial transformation,

geometric transformation,

warp

Image Registration: Process of transforming
two images so that same features overlap

Example Application:
Image Registration

Reference
Image
Mission
Images

Registration = Computing Transformation

 2D Transformations

Basic operation of all 2D
transformations is simple
Point to be transformed: [x, y ]
Point after transformation: [x’, y’ ]

 a1 a2   x   a1 x a2 y   x'
a    =  = 
 3 a4   y  a3 x a4 y   y '
Position Position
Transformation after
before
Matrix transformation
transformation

Example
(0,0) (0,a) (0,0) (0,a)
Apply
0.5 0 
 0 0.5
 
(a,0) (a,a) (a,0) (a,a)

Original Transformed

0.5 0  0 0 0.5 0  a  0.5a 

 0 0.5 0 = 0  0 0.5 a  = 0.5a 
         
0.5 0  a  0.5a  0.5 0  0.5a  0.25a 
 0 0.5 0  =  0   0 0.5 0.5a  = 0.25a 
         
 2D Transformations

1.5 0 
 0 0.5 = ?
 
In general, scaling transformation is given by

sx 0
0 s y 


2D Transformations 1 1
0 1 = ?
 
(0,0) (0,1)
(0,0) (0,1)

(1,0) (1,1)
(1,0) (1,1)
Original
Transformed

(2,1)
Shear in x-direction
1 e  x   x + ey 
0 1  y  =  y 
    

x-coordinate moves with an amount

proportional to the y-coordinate

Shear in y-direction
1 0  x   x 
e 1  y  = ex + y 
    

y-coordinate moves with an amount

proportional to the x-coordinate
2D Transformations

 − 1 0 1 0 
 0 1 = ? 0 − 1 = ?
   
− 1 0 
 0 − 1 = ?
  Reflection is negative scaling

Rotation
y
(x2 y2)

(x1 y1)
θ

Task: Relate (x2 y2) to (x1 y1)

 x2 = R cos(θ + ϕ )
Rotation y2 = R sin(θ + ϕ )
x2 = R cosθ cos ϕ − R sin θ sin ϕ
y
y2 = R sin θ cos ϕ + R cosθ sin ϕ
(x2 y2)

R
x2 = x1 cosθ − y1 sin θ
(x1 y1)
y2 = x1 sin θ + y1 cosθ
R
θ
y1 = R sin ϕ
ϕ
 x2  cos θ − sin θ   x1 
x  y  =  sin θ cos θ   y1 
 2 
x1 = R cos ϕ
R
R is rotation by θ counterclockwise about origin

Rotation

Rotation Matrix has some special
properties

Each row/column has norm of 1 [prove]

Each row/column is orthogonal to the
other [prove]

So Rotation matrix is an orthonormal
matrix
 2D Translation

Point in 2D given by (x1 y1)

Translated by (dx dy)

x2 = x1 + dx
y 2 = y1 + d y

Translation

In matrix form

 x2  1 0 d x   x1 
 y  = 0 1 d   y 
 2  y  1

 1  0 0 1   1 

We could not have written T without using

homogeneous coordinates
 Basic 2D Transformations

cosθ − sin θ 0 sx 0 0

 sin θ 0 0
 cosθ
 sy 0
 0 0 1
 0 0 1
1 0 d x  1 ex 0 1 0 0
0 1 d  0 1
 y
 0 e
 y 1 0
0 0 1  0 0 1  0 0 1

Inverse Scaling

1 
sx 0 0 s 0 0
 x 
S =  0 sy 0 S −1 =  0
1
0
 sy 
 0 0 1 0 0 1
 
 

S S-1 = I
 Inverse Translation

1 0 d x  1 0 − d x 
T = 0 1 d y  T −1 = 0 1 − d y 
0 0 1  0 0 1 

T T-1 = I

Inverse Rotation

cosθ − sin θ 0  cosθ sin θ 0

R =  sin θ cosθ 0 R −1 = − sin θ cosθ 0
 0 0 1  0 0 1

RR-1 = I
Rotation about an Arbitrary
Point

The rotation matrix that we have
derived is for rotations about the origin

We may want to rotate about some
other point

Solution?

Translate point of rotation to origin,
rotate using normal rotation matrix,
translate back

Rotation about an Arbitrary

Point
Concatenation or Composition
of Transformations

Suppose we first want to scale, then rotate
x’ = Sx
x’’ = Rx’
= R(Sx)
= (RS) x

So two transformations can be represented
by a single transformation matrix
M = RS

Important: read from right-side to get order
of application of transformations

Concatenation or Composition
of Transformations

We can concatenate a large number of
transformations into a single
transformation

p2 = T[dx dy] S[s s]Rθ p1

Rules of matrix multiplication apply

If we do not use homogeneous
coordinates, what might be the problem
here?
Example
S= sx 0
0 sy
R= cosθ -sinθ
sinθ cosθ
Then
RS = sx cosθ -sy sinθ
sx sinθ sy cosθ
SR = sx cosθ -sx sinθ
sy sinθ sy cosθ

Order of Transformations

In general AB ≠ BA

However, in specific cases, this might
hold true

In the previous example, if sx = sy,
then order of transformations does not
matter
Order of Transformations

Scaled Rotated

Original

Rotated Scaled
Original

Order of Transformations

Scaled Rotated

Original

Rotated Scaled
Original
Order of Transformations

Rotation/Scaling/Shear, followed by
Translation
1 0 b1   a1 a2 0  a1 a2 b1 
0 1 b   a a4 0 = a3 a4 b2 
 2  3

0 0 1   0 0 1  0 0 1 

Translation, followed by
Rotation/Scaling/Shear
 a1 a2 0 1 0 b1   a1 a2 a1b1 + a2b2 
a a4 0 0 1 b2  = a3 a4 a3b1 + a4b2 
 3
 0 0 1 0 0 1   0 0 1 

Affine Transformation

Consider again the transformation
matrix of Rotation/Scaling/Shear,
followed by Translation
 a1 a2 b1 
a a4 b2 
 3
 0 0 1 

This is known as the affine

transformation
 Affine Transformation

Encodes rotation, scaling, translation and
shear

x2 = a1 x1 + a2 y1 + b1
y2 = a3 x1 + a4 y1 + b2

6 parameters

Linear transformation

Parallel lines are preserved [proof ?]

Affine Transformation

Ref: Steve Mann & Rosalind W. Picard, “Video Orbits of the Projective
Group: A simple approach to featureless estimation of parameters”, IEEE
Trans. on Image Processing, Vol. 6, No. 9, September 1997
Affine Transformation

If [a1 … a4] are restricted to pure rotation
matrix, then this case is called rigid-body or
euclidean transformation

Recovering Best Affine

Transformation

Given two images with unknown
transformation between them…

Compute the values for [a1 … a6]

 Recovering Best Affine
Transformation

Suppose we are given some
correspondences

Recovering Best Affine

Transformation

Image 1 Image 2 Overlap of points

after recovering
the transformation
We can try to find the set of parameters in which
the error is minimum
 Recovering Best Affine
Transformation

Least Squares Error Solution

Is the solution (i.e. set of parameters

a1 … a6) such that the sum of the

square of error in each corresponding
point is as minimum as possible

No other set of parameters exists that

may have a lower error

Least Squares Error Solution

 x*j   a1 a2 a3   x' j 
 * 
 y j  =  a4 a5 a6   y ' j 
  (x , y )
* *

 1   0
j j

  0 1   1  (x , y
j j

n
E (a1 , a2 , a3 , a4 , a5 , a6 ) = ∑ ( x*j − x j ) 2 + ( y *j − y j ) 2
j =1

n
(
E (a) = ∑ (a1 x' j + a2 y ' j + a3 − x j ) 2 + (a4 x' j + a5 y ' j + a6 − y j ) 2
j =1
)
 Least Squares Error Solution
n
E (a) = ∑ ((a x + a y + a − x ) + (a x + a y + a − y ) )
1 j 2 j 3
' 2
j 4 j 5 j 6
' 2
j
j =1

Minimize E w.r.t. a

Compute ∂E ∂a , put equal to zero, solve simultaneously

i

 ∑ x 2j ∑x y ∑x j j j 0 0 0   ∑ x j x 'j 
 j j j   j 
 x y 0   a1   ∑ y j x 'j 
∑ ∑y ∑y 2
0 0
j
j j
j
j
j
j
   j 
   a2   ' 
 ∑ xj ∑ y ∑1 j 0 0 0 
 a3   ∑
xj 
 j j j
  =  j

 0 0 0 ∑x ∑x y 2
j j j ∑j x j  a4  ∑j x j y 'j 
 j j  a   
 0 0 0 ∑x y ∑y j j
2
j ∑j y j  a5  ∑j y j y 'j 
 j j   6   
 0

0 0 ∑x ∑y j j ∑j 
1   ∑ j 
 j
y ' 

j j  