HY553-2 LinearAlgebra

-553
CS-553 Interactive Computer Graphics

Lecture 2:
Linear Algebra for CG

G. Papagiannakis

Interactive Computer Graphics, Spring 2013, University of Crete

Overview

a

Basic
linear algebra
concepts used in CG

Vectors
and Matrices

Basic
geometrical
concepts

u

au


Lecture 2: Linear Algebra in CG Slide 2

LA Applications in AR



What we should know about Linear Algebra

3D
Coordinate geometry

Vectors
Dot
in 2 space and 3 space

product and cross product definitions and uses

Vector
and Matrix notation and algebra

Properties
Matrix
(matrix associativity but NOT matrix commutativity)

transpose and inverse definition, use and calculation



History of algebras.

Pamplona, V.F. 2006. Geometric Algebra brief introduction. 123, http://vitorpamplona.com/

wiki/Curriculum



Vector and Matrix notation: a non-geometric

example I




example II




example III

What
do I pay?




example IV

Using
Matrix notation:



Cartesian
coordinate space



Vectors & vector space I



Vectors & vector space II



Vector addition



Adding vectors
visually



Scalar
Multiplication I



Scalar
Multiplication II:
Linear
Dependence



Basis vectors
of the plane



Euclidean space

A
vector n in the n-dimensional Euclidean space

n
v0
v1
...
...
...
vn 1
with vi
, i 0, ... n
is denoted:

vector can also be represented as row vector

Most CG books and APIs use column-major form

Addition and multiplication by scalar:

u
u0
u1
...
...
...
un1
v0
v1
...
...
...
vn1
u0 v0
u1 v1
...
...
...
un1 vn1
av
au0
au1
...
...
...
aun 1
nmeans addition and multiplication yield vectors of the same
space



Coordinate Systems

Right
handed coordinate system

x
z


Vector Arithmetic Summary

[
b = [b
a = ax
ay
by
[
a b = [a
a = [ a
sa = [sa
]
b]
az
z
]
b ]
a + b = a x + bx
a y + by
a z + bz
bx
a y by
az
x
x
ay
say
az
saz

]

Vector Magnitude

The
magnitude (length) of a vector is:

2
x
2
y
v = v +v +v
2
z
vector with length=1.0 is called a unit vector

We can also normalize a vector to make it a unit vector:

v
v


Dot Product

a b = ai bi
a b = a x bx + a y by + a z bz
a b = a b cos


Dot Product

a b = ai bi
a b = a x bx + a y by + a z bz
a b = a b cos
T
ab = a b
a b = ax

ay
bx
a z by
bz

Example: Angle Between Vectors

How
do you find the angle between vectors a and b?



Example: Angle Between Vectors

a b = a b cos
a b
cos =
a
b
b
1
= cos
a
b


Dot Products with General Vectors

The
dot product is a scalar value that tells us something about the

relationship between two vectors

If
ab > 0 then < 90

If
ab < 0 then > 90

If
ab = 0 then = 90 (or one or more of the vectors is degenerate

(0,0,0))



Dot Products with One Unit Vector

If
|u|=1.0 then au is the length of the projection of a onto
u

au



Example: Distance to Plane

A
plane is described by a point p on the plane and a unit

normal n. Find the distance from point x to the plane

x

n

p



Example: Distance to Plane

The
distance is the length of the projection of x-p onto n:

dist = (x p) n
x

n

x-p

p



Dot Products with Unit Vectors

0 < ab <
ab = 0
1

ab = 1

b

a

-1 < ab < 0

ab = -1


ab

a = b = 1.0
a b = cos( )

Cross Product

i
a b = ax
bx
j
ay
by
k
az
bz
a b = a y bz a z by
a z bx a x bz

a x by a y bx

Properties of the Cross Product

a b is a vector perpendicular to both
a and b, in the direction defined by
the right hand rule
a b = a b sin
a b = area of parallelogram ab
a b = 0 if a and b are parallel


Example: Normal of a Triangle

Find
the unit length normal of the triangle defined by 3D points

a, b, and c

a


b


Example: Normal of a Triangle

n = (b a ) (c a )
n
n=
n
c

c-a

a

b-a


b


Example: Area of a Triangle

Find
the area of the triangle defined by 3D points a, b, and c

a


b


Example: Area of a Triangle

1
area = (b a ) (c a )
2
c

c-a

a

b-a


b


Example: Alignment to Target

An
object is at position p with a unit length heading of h.

We want to rotate it so that the heading is facing some
target t. Find a unit axis a and an angle to rotate around.

h



Example: Alignment to Target

h ( t p)
a=
h ( t p)
a

t-p

$ h ( t p) '
1
)
= cos &&
)
h
p
(
)
%
(

t

h



Uses of the dot product



Rule for Dot product



Finding the length of a vector



Finding the
angle between
two vectors



More uses of
the Dot product



Summary: dot product and bases

Dot
product

u
v
Orthonormal
cos
basis

0, i j,
1, i j.
u
i uj
if
the basis vectors are mutually perpendicular, but not of unit length:
orthogonal

Orthonormal
Project
w

does not have to be simple vectors e.g. spherical harmonics

a vector orthogonally onto another vector:

uv
v
uv
vv
tv


Vector
cross product I

(cross) product

If
w
w
|uv|=|u||v|sin
u and w
u is parallel to v, cross product is 0

u,v,w
form a right-handed system

Properties

u v v u
au
bv w a u w
b v w
u v w v w u
u v w u w v u v w

anti commutativity
linearity
scalar triple product
vector triple product

Cross product
II



Linear Algebra: vector rules

(u+v)
u+v
+ w = u + (v + w) (associativity)

= v+u (commutativity)

+ v = v (zero identity, with zero vector 0 = (0,0,.0) )

+ (-v) = 0 (additive inverse)

Multiplication
(ab)u
by a scalar rules:

= a(bu)

(a+b)u
= au + bu (distributive law)

a(u+v)
= au + av (distributive law)

1u=u



Problem: Translating objects



What is a Matrix?



Translation



Scaling



Rotation



Sets of Linear
Equations and
Matrices



Matrix-Vector Multiplication I



Matrix-Vector Multiplication II



Algebraic
Properties of
Matrices



Matrix
multiplication
analyzed



Matrix
Inverse



What does
an Inverse
do?



Matrices (1/2)

A
tool for manipulating vectors

and points

Identity
m00
m01
m10
m11
...
...
mp 1,0 mp 1,1
... m0,q 1
... m1,q 1
...
...
... mp 1,q 1
mij
matrix

Matrix-matrix
addition

Scalar-matrix
multiplication

Transpose:
1
0 ... 0
0
1 ... 0
... ... ... ...
0
0 ... 0
0
0 ... 1
M=[mij], MT=[mji]

M

mij
nij mij
nij

Matrices (2/2)

Matrix-Matrix
M
of size pxq and N qxr , T becomes pxr

m00
m10
...
T MN
mp
1,0
m01
m11
...
mp
1,1
Determinant
M
Inverse
n00
n10
...
np
n01
n11
...
np
1,0
... n0,r 1
... n1,r 1
...
...
... np 1,r 1
1,1
q 1
i0
q 1
i0
m0,i ni,0
...
...
mp
1,i
...
...
...
ni,0 ...
q 1
i0
q 1
i0
m0,i ni,r
...
...
mp
1,i
ni,r
of matrix M

m00 m11
m01 m10
of matrix M

Co-factor d

... m0,q 1
... m1,q 1
...
...
... mp 1,q 1
m00 m01
m10 m11
Adjoint
multiplication

dM02
m00 m01 m02

m10 m11 m12
m20 m21 m22
M
m10 m11
m20 m21
adj M
d00
d01
d02
d10
d11
d12
d20
d21
d22
of Matrix (use the formula below-left or Gauss-Jordan elimination below-right)

1
M
adj M
M
MI
MT
1 T
MN

1
1

Orthogonal Matrices

A
square matrix M, with only real elements and

T
MT M I
M 1

MM
M
MT
an orthogonal matrix is not the same as an orthogonal vector set

(mutually perpendicular vectors)

An
A
orthogonal matrix must consist of normalized vectors

rotation is an orthogonal matrix



Matrix
Notation



But, there is a problem



Solution to
notational
problem



Matrix Notation and Composition



Basic Trigonometry for CG I



Basic Trigonometry for CG II



Geometry: lines

r(t)
= o +td

is a point on the line

is direction of the line

is a parameter to generate
different points r on the line

ax+by+c=0

For
p to lie on lie L it must

fulfill this equation

If
a,b are combined in vector

n=(nx,ny)=(a,b)

n.p
+ c =0



Geometry: Planes

Explicit
form: P(u,v)=o +us+vt

o is a point lying on the plane

s, t are direction vectors that span the plane (i.e. noncollinear)

u,v parameters to generate different points on the plane

Plane normal is sxt

Implicit
form: n.p + d=0

n is plane normal

P is a point on the plane

d is a constant that determines part of the position of the plane

f(p)=n.p + d

If f(p)=0, then p is on the plane

If f(p)>0, then p lies on the same side of the plane as q+n

If f(p)<0, then p lies on the same side of the plane as q-n



Geometry: Convex Hull

The
smallest set that

satisfies the following
condition:

The
straight line between

any two points in the set
is totally included in the set as well

Rubber
Used
band example

for bounding volume algorithms



References

Dam,
A. 2003. Linear Algebra. Introduction to Computer

Graphics, CS Brown University, 153.

Akenine-Mller,
T., Haines, E., and Hoffman, N. 2008.

Appendix A. Some linear Algebra. Real-Time Rendering, 123.

Akenine-Mller,
T., Haines, E., and Hoffman, N. 2008.

Appendix B. Trigonometry. Real-Time Rendering, 17.

Rotenberg,
S., 2005, Vectors & Matrices, Computer Graphics,
UCSD



Thank you!


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-553

CS-553 Interactive Computer Graphics

Interactive Computer Graphics, Spring 2013, University of Crete

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 2

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 3

What we should know about Linear Algebra

in 2 space and 3 space

product and cross product definitions and uses

and Matrix notation and algebra

(matrix associativity but NOT matrix commutativity)

transpose and inverse definition, use and calculation

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 4

Pamplona, V.F. 2006. Geometric Algebra brief introduction. 123, http://vitorpamplona.com/

Lecture 2: Linear Algebra in CG Slide 5

Vector and Matrix notation: a non-geometric

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 6

Vector and Matrix notation: a non-geometric

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 7

Vector and Matrix notation: a non-geometric

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 8

Vector and Matrix notation: a non-geometric

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 9

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 10

Vectors & vector space I

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 11

Vectors & vector space II

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 12

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 13

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 14

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 15

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 16

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 17

vector n in the n-dimensional Euclidean space

vector can also be represented as row vector

nmeans addition and multiplication yield vectors of the same

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 18

handed coordinate system

Lecture 2: Linear Algebra in CG Slide 19

Vector Arithmetic Summary

Interactive Computer Graphics, Spring 2013, University of Crete

magnitude (length) of a vector is:

vector with length=1.0 is called a unit vector

Lecture 2: Linear Algebra in CG Slide 21

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 22

Interactive Computer Graphics, Spring 2013, University of Crete

Lecture 2: Linear Algebra in CG Slide 23