[Chapter 6] Transformation Matrices

最新推荐文章于 2021-12-18 16:51:23 发布

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最新推荐文章于 2021-12-18 16:51:23 发布

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6. Transformation Matrices

6.1 2D Linear Transformations

6.1.1 Scaling

$scales(s_x,s_y)= \begin{bmatrix} s_x & 0 \\ 0 & s_y \end{bmatrix}$

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6.1.2 Shearing

$shear\_x(s)= \begin{bmatrix} 1 & s \\ 0 & 1 \end{bmatrix}, shear\_y(s)= \begin{bmatrix} 1 & 0 \\ s & 1 \end{bmatrix}$

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6.1.3 Rotation

$rotate(\theta)= \begin{bmatrix} \cos \theta & -\sin \theta \\ \sin \theta & \cos \theta \end{bmatrix}$
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6.1.4 Reflection

$reflect\_y(s)= \begin{bmatrix} -1 & 0\\ 0 & 1 \end{bmatrix}, reflect\_x(s)= \begin{bmatrix} 1 & 0 \\ 0 & -1 \end{bmatrix}$

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6.1.5 Composition and Decomposition of Transformations

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6.1.6 Decomposition of Transformations

Symmetric Eigenvalue Decomposition
$A=RSR^T$

for example:
$\begin{aligned} \begin{bmatrix} 2 & 1 \\ 1 & 1 \end{bmatrix}=&R\begin{bmatrix} \lambda_1 & 0\\ 0&\lambda_2 \end{bmatrix}R^T\\ =&rotate(31.7^\circ)scale(2.618, 0.382)rotate(-31.7^\circ) \end{aligned}$
Singular Value Decomposition
$A=USV^T$
for example:
$\begin{aligned} \begin{bmatrix} 1 & 1 \\ 0 & 1 \end{bmatrix}=&R_2\begin{bmatrix} \sigma_1 & 0\\ 0&\sigma_2 \end{bmatrix}R_1^T\\ =&rotate(31.7^\circ)scale(1.618, 0.618)rotate(-58.3^\circ) \end{aligned}$
Paeth Decomposition of Rotations
$\begin{bmatrix} \cos \theta&-\sin \theta\\ \sin \theta&\cos \theta \end{bmatrix}= \begin{bmatrix} 1&\frac{\cos \theta - 1}{\sin \theta}\\ 0&1 \end{bmatrix} \begin{bmatrix} 1&0\\ \sin \theta&1 \end{bmatrix} \begin{bmatrix} 1&\frac{\cos \theta - 1}{\sin \theta}\\ 0&1 \end{bmatrix}$

This particular transform is useful for raster rotation because shearing is a very efficient raster operation for images; it introduces some jagginess, but will leave no holes.

6.2 3D Linear Transformations

$scale(s_x,s_y,s_z)= \begin{bmatrix} s_x&0&0\\ 0&s_y&0\\ 0&0&s_z \end{bmatrix}$
$rotate\_z(\theta)= \begin{bmatrix} \cos \theta & -\sin \theta&0 \\ \sin \theta & \cos \theta&0\\ 0&0&1 \end{bmatrix}$
$rotate\_x(\theta)= \begin{bmatrix} 1&0&0\\ 0&\cos \theta & -\sin \theta \\ 0&\sin \theta&\cos \theta\\ \end{bmatrix}$
$rotate\_y(\theta)= \begin{bmatrix} \cos \theta & 0&\sin \theta \\ 0&1&0\\ -\sin \theta&0&\cos \theta\\ \end{bmatrix}$

6.2.1 Arbitrary 3D Rotations

In matrix form, to rotate about the w-axis by an angle $\theta$ :

$\begin{bmatrix} x_u&x_v&x_w\\ y_u&y_v&y_w\\ z_u&z_v&z_w \end{bmatrix} \begin{bmatrix} \cos \theta&-\sin \theta&0\\ \sin \theta& \cos \theta&0\\ 0&0&1 \end{bmatrix} \begin{bmatrix} x_u&y_v&z_w\\ x_u&y_v&z_w\\ x_u&y_v&z_w \end{bmatrix}$

6.2.2 Transforming Normal Vectors

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$n^Tt=0$
If we denote the desired transformed vectors as $t_M = Mt$ and $n_N = Nn$ ,our goal is to find $N$ such that $n^T_Nt_M= 0$
$n^Tt=n^TIt=n^TM^{-1}Mt=0\\ (n^TM^{-1})(Mt)=(n^TM^{-1})t_M=0\\ \Rightarrow n^T_N=n^TM^{-1}\\ \Rightarrow n_N=(n^TM^{-1})^T=(M^{-1})^Tn$