2D Transformatios

Department of Computer Science and Engineering (CSE)
Computer Graphics
2-D Transformations
University Institute of Engineering (UIE)

Outline
2-D Transformations
Transformation principles
Homogeneous coordinate systems
Concatenations
Matrix representations of transformations.
University Institute of Engineering (UIE) 2

Transformations
The term transform means to change. This change can either be of shape, size
or position of the object. To perform transformation on any object, object
matrix X is changed by the transformation matrix T.
[X*]=[X] [T]
[X*] is matrix of transformed object.
[X] is a matrix of original object
[T] is transformation matrix.
The various transformations possible on an object are:
Translation
Rotation Basic Transformations
Scaling
Reflection
Shearing Other Transformations

Transformations
A transformation on an object is an operation that changes how the object is

finally drawn to screen
There are two ways of understanding a transformation
An Object Transformation alters the coordinates of each point
according to some rule, leaving the underlying coordinate system
unchanged
A Coordinate Transformation produces a different coordinate system,
and then represents all original points in this new system

Basic classes of transformations
There are three basic classes of transformations:

1. Rigid body - Preserves distance and angles.
Examples: translation and rotation.
2. Conformal - Preserves angles.
Examples: translation, rotation, and uniform scaling.
3. Affine - Preserves parallelism. Lines remain lines.
Examples: translation, rotation, scaling, shear, and reflection.

Elementary Transformations
Affine transformations are usually combinations of four elementary

transformations:
1: Translation
2: Scaling
3: Rotation
4: Shearing

Translation
A translation moves an object into a different position in a scene

tx
This is achieved by adding an offset/translation vector t
ty
Qx Px t x
Q P t
In Vector notation: y y y
Translate by t
Original points Transformed points

Scaling
A scaling changes the size of an object with two scale factors, Sx and Sy (if
Sx != Sy, then we have a non-uniform scale)
Qx Px S x
Q P S
y y y
Sx, Sy
Scale by
Sx, Sy

Rotation
Using the trigonometric relations, a point rotated by an angle q about the

origin is given by the following equations:
Qx Px cos Py sin Qy Px sin Py cos

So
Qx Px cos Py sin
Q P sin P cos
y x y

Rotate by

Rotation - derivation
QX Rcos( ) [1]
Q y Rsin( ) [2]
PX R cos ( ) [3]
Py R sin ( ) [4]
Q
cos ( ) cos () cos () sin () sin ()
sin( ) sin () cos () cos () sin ()

PY P
[1] Qx Rcos ( ) cos ( ) Rsin ( ) sin ( )
PX Substituting from [3] and [4]

R
Qx Pxcos ( ) Py sin ( )
Similarly from [2]
Qy Pycos ( ) Px sin ( )
Background info

Other transformations: Reflection
A reflection is a transformation that produces a mirror image of an object.

The mirror image for a two-dimensional reflection is generated relative to an
axis of reflection by rotating the object 180 degree about the reflection axis

2D Reflections
y y y
x x
1 0 0 1 0 0 1 0 0
0 1 0 0 1 0 0 1 0

0 0 1 0 0 1 0 0 1

yx y x
0 1 0 0 1 0
1 0 0 1 0 0

0 0 1 0 0 1

Other transformations
Reflection:
x-axis y-axis
1 0 0
0 1 0

0 0 1
1 0 0
0 1 0

0 0 1

Reflection:
origin line x=y
1 0 0 0 1 0
0 1 0 1 0 0

0 0 1
0 0 1


Shearing
A shearing affects an object in a particular direction (in 2D, its either in the
x or in the y direction),results only in distortion of shape.
A shear in the x direction would be as follows:
Qx Px hPy
Q P
y y
The quantity h specifies what fraction of the y-coordinate should be added to
the x-coordinate, and may be positive or negative
More generally: a simultaneous shear in both the x and y directions would be
Qx Px hPy
Q P gP
y y x

Shearing
g =0, h=0.5
Shear by {g,h}
g=0.5, h=0.5
Shear by {g,h}

Shear:
x-direction y-direction
1 shx 0 1 0 0
0 1 0 sh 1 0
y
0 0 1 0 0 1

Matrix Representation
All affine transformations in 2D can be generically described in terms of a

generic equation as follows:
Qx a b Px t x
Q P t
y c d y y
i.e.
Q MP t

Transformations Summary
1: Translation T
Qx 1 0 Px t x
Q P t
y 0 1 y y
T
2: Scaling
Qx S x 0 Px 0
Q 0
S y Py 0
y
3: Rotation T
Qx cos sin Px 0
Q P 0
y sin cos y
4: Shearing T
Qx 1 h Px 0
Q P 0

y g 1 y

Problem
An affine transformation is composed of a linear combination followed by a
translation
Unfortunately, the translation portion is not a matrix multiplication but must
instead be added as an extra term, or vector this is inconvenient
P = M1P + M2
where M1 takes care of rotation and scaling,
while M2 takes care of translation.
This is undesirable!
Thus, any point (a,b) in 2D Cartesian system is represented as (a,b,1) is

homogeneous coordinate system.
Any point (a,b,w) where w 0 is homogenous coordinate corresponds the
a b
point ( , ) in 2D Cartesian system.
w w

Homogeneous Coordinates & Matrix Representations

The trick we use is to add an additional component 1 to both P and Q, and
also a third row and column to M, consisting of zeros and a 1
i.e.
Qx a b t x Px
Q c d t P
y y y
1 0 0 1 1
Translation by Tx, Ty 1 0 t x Rotate by :

cos sin 0
M 0 1 t y M sin cos 0
0 0 1 0 0 1
S x 0 0 1 h 0
Scale by Sx, Sy
M 0 Sy 0
Shear by g, h: M g 1 0
0 0 1 0 0 1

Homogeneous Coordinates
Advantages
1. 2D transformations can be represented as 3x 3 matrices so that usage of the
operations become relatively easy.
2. It is a technique based on projective geometry.
3. Floating point arithmetic can be avoided by transforming them into integer
arithmetic.
1 1
e.g. ( , ) in 2D can be represented as (3,2,6) in homogeneous coordinates.
2 3

Multiple Transformations
It is rare that we want to perform just one elementary transformation.

Usually an application requires that we build a complex transformation out of
several elementary ones
e.g. translate an object, rotate it, and scale it, all in one move
These individual transformations combine into one overall transformation
This is called the composition of transformations.
The composition of two or more affine transformations is also an affine
transformation

Rotation and Scaling
The simple versions of rotation and scaling have been based around the
origin.
This means that when we rotate or scale, the object will also move, with
respect to the origin
Not only is the object

rotated, but it also
moves around the origin

Pivotal points
Often we wish to rotate or scale with respect to some pivotal point, not the
origin
Most significantly, we often wish to rotate or scale an object about its
centre, or midpoint
In this way, the objects location does not change
To do this, we relate the rotation or scaling about the pivotal point V, to an
elementary rotation or scaling about the origin
We first translate all points so that V coincides with the origin
We then rotate or about the origin
then all points are translated back, so that V is restored to its original
location

{x1,y1}
{0,0}
To rotate the square by angle: about the point {x1, y1}
Translate all points through {-x1,-y1}

Rotate all points about the origin by
Translate all points back through {x1y1}

Rotation about a pivot point
1 0 x1 cos sin 0 1 0 x1
0 1 y sin cos
0 0 1 y1
1
0 0 1 0 0 1 0 0 1
cos sin x1 (1 cos ) y1 sin

sin cos
y1 (1 cos ) x1 sin
0 0 1

Useful compositions
Rotate about a pivot point:

T(pivot) R() T(pivot) P
Scale about a fixed point:

T(fixed) S(scale) T(fixed) P
General scaling directions:

R() S(scale) R() P

Concatenation Properties
Matrix multiplication is associative.
AB C = (AB )C = A(B C)
i.e. 2 3 4 (2 3) 4 2 (3 4)
Transformation products may not be commutative A B B A

Be careful about the order in which the composite matrix is evaluated.
Except for some special cases: i.e. A B B A
Two successive rotations
Two successive translations
Two successive scaling
rotation and uniform scaling

Concatenation Properties
Reversing the order

A sequence of transformations is performed may affect the transformed
position of an object.

Order of operations
So, it does matter. Lets look at an example

General Pivot-Point Rotation
With a graphics package that only provides a rotate function for revolving
objects about the coordinate origin, we can generate rotations about any
selected pivot point (x, y,) by performing the following sequence of
translate-rotate translate operations:
1. Translate the object so that the pivot-point position is moved to the coordinate
origin.
2. Rotate the object about the coordinate origin.
3. Translate the object so that the pivot point is returned to its original position.

General Pivot-Point Rotation
Move to origin Rotate Move back
xr , yr
1 0 xr cos sin 0 1 0 xr
0 1 yr sin cos 0 0 1 yr

0 0 1 0 0 1 0 0 1
cos sin xr 1 cos yr sin

sin cos yr 1 cos xr sin
0 0 1
T ( x , y ) R ( ) T ( x , y ) R ( x , y , )
r r r r r r

General Fixed-Point Scaling

Scaling with respect to a selected fixed position (xf,yf)
1. Translate object so that the fixed point coincides with the coordinate origin.
2. Scale the object with respect to the coordinate origin.
3. Use the inverse translation of step 1 to return the object to its original position.

General Fixed-Point Scaling
Translate-scale-translate
1 0 x s f x
0 0 1 0 x f
0 1 y 0 s 0 0 1 y
f y
f
0 0 1 0 0 1 0 0 1
sx 0 x f (1 sx )
0 sy y f (1 s y )

0 0 1
T ( x , y ) S ( s , s ) T ( x , y ) S ( x , y , s , s )
f f x y f f f f
x y

Examples on 2D Transformations
Consider a line A(2,3) and B(8,10).Obtain the coordinates of transformed

4 0
line using T .
0 1
2 3 4 0 8 3
[X*]=[X][T]= =
8 10 0 1 32 10
Perform a 45 rotation of object A(2,1), B(5,1),C(5,6) in anti-clockwise

direction and give the coordinates of the transformed objects.

2 1
[X]= 5 1

5 6
[T]=cos 45 sin 45
sin 45 cos 45

2 1 1 1 3 1
[X][T]= 5 1 2 2 = 1 6 4
1 1 2
5 6 11 1
2 2
A* 3 , 1 ,B* 6 , 4 , C* 11 , 1
2 2 2 2 2 2

Find the transformed point, P, caused by rotating P= (5, 1) about the origin
through an angle of 90 clockwise.
[P]=[P][T]
cos 90 sin 90
= 5 1 sin 90 cos 90

= 5 1 0 1
1 0

= 1 5

Consider the triangle ABC whose coordinates are A(4,1),B(5,2),C(4,3)

a)Reflect the triangle about x-axis.
b)Reflect the triangle about y-axis.
c)Reflect the triangle about y=x.
d)Reflect the triangle about line y=-x.

4 1 4 1
1 0
a) 5 2 0 1 = 5 2

4 3

4 3

4 1 4 1
b) 5 1 0 = 5 2
2 0 1

4 3
4 3
4 1 1 4
c) 5 0 1 =
2 1 0 2 5

4 3
3 4

4 1 1 4
0 1
d) 5 2 1 0 = 2 5

4 3 3 4
Consider a line AB with coordinates A(1,1) and B(10,10).First reflect

the line about y axis and then about the line y=-x. In case 2,simply
rotate the line by - 270 (clockwise).Prove that transformed object in
both the cases is same.
1 1 1 0 0 1 1 1
[X*]=[X][T]= 10 10 0 1 1 0 = 10 10 CASE1

cos 270 0, sin 270 1
sin( ) sin cos( ) cos
1 1 cos(270) sin(270)
[X*]= [X] [T]= sin( 270)
10 10 cos(270)
cos 270 sin 270

1 1 0 1 1 1
= 10 10 1
sin 270 cos 270
0 = 10 10 CASE2

Consider the object with coordinates A(2,4),B(3,1),C(5,3). Transform it by

first reflecting it about x-axis and then rotating it by clockwise 60
[X]= 2 4
3 1

5 3
1 3
1 0 cos 60 sin 60 1 0 2 2
[T]= [Refx] [R()]= = 0
0 1 sin 60 cos 60 1 3 1
2 2
(1 2 3 3 2)
2 4 1 3
(

3 1 2 2 = 3

3 1
(3 3 1)
3
1 2 2 2
5 3 2 2
1
(5 3 3)
1
(5 3 3)
2 2

FAQ
What is the use of 2D transformations?

Write matrix representations of 2D transformations.

References
Computer Graphics C Version, Donald Hearn and M.Pauline Baker
Pearson Education.
Computer Graphics Principles and Practice C.foley, VanDam, Feiner and
Hughes, Pearson Education

Thanks!

2D Transformatios

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Department of Computer Science and Engineering (CSE)

University Institute of Engineering (UIE)

University Institute of Engineering (UIE) 2

University Institute of Engineering (UIE)

A transformation on an object is an operation that changes how the object is

University Institute of Engineering (UIE) 4

Basic classes of transformations

There are three basic classes of transformations:

University Institute of Engineering (UIE)

Affine transformations are usually combinations of four elementary

University Institute of Engineering (UIE) 6

A translation moves an object into a different position in a scene

Original points Transformed points

University Institute of Engineering (UIE) 7

University Institute of Engineering (UIE) 8

Using the trigonometric relations, a point rotated by an angle q about the

Qx Px cos Py sin Qy Px sin Py cos

Original points Transformed points

University Institute of Engineering (UIE) 9

sin( ) sin () cos () cos () sin ()

PX Substituting from [3] and [4]

University Institute of Engineering (UIE) 10

Other transformations: Reflection

A reflection is a transformation that produces a mirror image of an object.

University Institute of Engineering (UIE)

University Institute of Engineering (UIE)

University Institute of Engineering (UIE) 13

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University Institute of Engineering (UIE) 15

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Original points Transformed points

Original points Transformed points

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University Institute of Engineering (UIE) 18

All affine transformations in 2D can be generically described in terms of a

University Institute of Engineering (UIE) 19

University Institute of Engineering (UIE) 20

Thus, any point (a,b) in 2D Cartesian system is represented as (a,b,1) is

University Institute of Engineering (UIE) 21

Homogeneous Coordinates & Matrix Representations

Translation by Tx, Ty 1 0 t x Rotate by :

University Institute of Engineering (UIE) 22

University Institute of Engineering (UIE)

It is rare that we want to perform just one elementary transformation.

University Institute of Engineering (UIE) 24

Rotation and Scaling

Not only is the object

University Institute of Engineering (UIE) 25

University Institute of Engineering (UIE) 26

To rotate the square by angle: about the point {x1, y1}

Translate all points through {-x1,-y1}

University Institute of Engineering (UIE) 27

Rotation about a pivot point

cos sin x1 (1 cos ) y1 sin

University Institute of Engineering (UIE) 28

Rotate about a pivot point:

Scale about a fixed point:

General scaling directions:

University Institute of Engineering (UIE) 29

Transformation products may not be commutative A B B A

University Institute of Engineering (UIE)

Reversing the order

University Institute of Engineering (UIE)

So, it does matter. Lets look at an example