2D Geometric Transformations

(Chapter 5 in FVD)

2D Geometric
Transformations
• Question: How do we represent a
geometric object in the plane?
• Answer: For now, assume that
objects consist of points and lines.
A point is represented by its
Cartesian coordinates: (x,y).

• Question: How do we transform a

geometric object in the plane?
• Answer: Let (A,B) be a straight line
segment and T a general 2D
transformation: T transforms (A,B)
into another straight line segment
(A’,B’), where A’=TA and B’=TB.
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 Translation
• Translate (a,b): (x,y) (x+a,y+b)

Translate(2,4)

Scale
• Scale (a,b): (x,y) (ax,by)

Scale (2,3)

Scale (2,3)

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• How can we scale an object
without moving its origin (lower
left corner)?

Translate(-1,-1)

Translate(1,1) Scale(2,3)

Reflection

Scale(-1,1)

Scale(1,-1)

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 Rotation
• Rotate(θ):
(x,y) (x cos(θ)+y sin(θ), -x sin(θ)+y cos(θ))

Rotate(90)

Rotate(90)

• How can we rotate an object

without moving its origin (lower
left corner)?

Translate(-1,-1)

Translate(1,1)
Rotate(90)

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 Shear
• Shear (a,b): (x,y) (x+ay,y+bx)

Shear(1,0)

Shear(0,2)

Composition of
Transformations
• Rigid transformation:
– Translation + Rotation (distance
preserving).
• Similarity transformation:
– Translation + Rotation + uniform
Scale (angle preserving).
• Affine transformation:
– Translation + Rotation + Scale +
Shear (parallelism preserving).
• All above transformations are groups
where Rigid ⊂ Similarity ⊂ Affine.

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 Matrix Notation
• Let’s treat a point (x,y) as a 2x1
matrix (a column vector):
x 
 y
 

• What happens when this vector is

multiplied by a 2x2 matrix?

a b   x  ax + by 
 c d   y  = cx + dy 
    

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2D Transformations

• 2D object is represented by points

and lines that join them.
• Transformations can be applied
only to the the points defining the
lines.
• A point (x,y) is represented by a
2x1 column vector, and we can
represent 2D transformations
using 2x2 matrices:

 x '  a b   x 
 ' =  d   
    
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 Scale
• Scale(a,b): (x,y) (ax,by)

a 0  x  ax 
 0 b  y  = by 
    

• If a or b are negative, we get

reflection.

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Reflection
• Reflection through the y axis:
− 1 0
 0 1
 
• Reflection through the x axis:
 1 0
0 −1
 
• Reflection through y=x:

 0 1
1 0
 
• Reflection through y=-x:
 0 − 1
 − 1 0
 
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 Shear, Rotation

• Shear(a,b): (x,y) (x+ay,y+bx)

1 a   x   x + ay 
b 1   y  =  y + bx 
    

• Rotate(θ):
(x,y) (xcosθ+ysinθ , -xsinθ + ycosθ)

 cosθ sin θ   x   x cosθ + y sin θ 

− sin θ =
 cosθ   y   − x sin θ + y cosθ 

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Composition of Transformations

• A sequence of transformations
can be collapsed into a single
matrix:
[A][B ][C ]
x  x
 = [D ] y
 y  
• Note: order of transformations is
important! (otherwise - commutative groups)

translate rotate

rotate translate

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 Translation
 x  x + a
• Translation(a,b):   →  
 y   y + b
• Problem: Cannot represent
translation using 2x2 matrices.

• Solution:
Homogeneous Coordinates

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Homogeneous Coordinates
• Homogeneous Coordinates is a
mapping from Rn to Rn+1:

(x, y) →( X,Y,W) = (tx, ty, t)

• Note: (tx,ty,t) all correspond to

the same non-homogeneous point
(x,y). E.g. (2,3,1)≡(6,9,3).

• Inverse mapping:
X Y 
( X , Y ,W ) →  , 
W W 

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 Translation
• Translate(a,b):
1 0 a   x   x + a 
0 1 b   y  =  y + b 
    
0 0 1   1   1 

• Affine transformation now have

the following form:

a b e
c d f 

 0 0 1 

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Geometric Interpretation
W

Y
(X,Y,W)
1 y
x
(X,Y,1)

X
• A 2D point is mapped to a line
(ray) in 3D. The non-homogeneous
points are obtained by projecting
the rays onto the plane Z=1.
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 • Example: Rotation about an
arbitrary point:
(x0,y0)

• Actions:
– Translate the coordinates so that the
origin is at (x0,y0).
– Rotate by θ.
– Translate back.

 1 0 x0  cosθ − sin θ 0 1 0 − x0   x 
0 1 y   sin 0 0 1 − y0   y  =
 0  θ cosθ
0 0 1  0 0 1 0 0 1   1 

cosθ − sin θ x0 (1 − cosθ ) + y0 sin θ   x 

=  sin θ cosθ y0 (1 − cosθ ) − x0 sin θ   y 
 0 0 1   1 
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• Another example: Reflection

about an Arbitrary Line:

p2

p1
L=p1+t (p2-p1)=t p2+(1-t) p1

• Actions:
– Translate the coordinates so that P1
is at the origin.
– Rotate so that L aligns with the x-
axis.
– Reflect about the x-axis.
– Rotate back.
– Translate back.
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 Viewing in 2D
(Chapter 6 in FVD)

World Coordinate
Device Coordinate Window
Viewport

Object in World

g
pin
map
:2D
3D
2D:2D mapping

Device Coordinates World Coordinates

• Objects are given in world coordinates.

• The world is viewed through a world-
coordinate window.
• The WC window is mapped onto a
device coordinate viewport.

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Viewing in 2D (cont.)

Maximum range
of screen
Window coordinates
Viewport

World Coordinates Screen Coordinates

(Device Coordinates)

Window to Viewport
Transformation

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 Window to Viewport Transformation

(xmax,ymax) (umax,vmax)

(xmin,ymin) (umin,vmin)

Window in Window Window Translated to

World translated scaled to viewport position in
Coordinates to origin viewport size. screen coordinates.

u -u v -v
Mwv = T(umin,vmin) S( xmax -xmin , ymax -ymin ) T(-xmin,-ymin)
max min max min

umax-umin
1 0 umin xmax-xmin v 0-v 0 1 0 -xmin
max min
= 0 1 vmin 0 ymax-ymin 0 0 1 -ymin
0 0 1 0 0 1 0 0 1

umax-umin umax-umin
xmax-xmin 0 xmax-xmin (-xmin) + umin
= vmax-vmin vmax-vmin
0 ymax-ymin y -y (-ymin) + vmin
max min

0 0 1

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