Lecture03 Transform

Slide

Why study transformation

Modeling

• translation
• rotation
• scaling

Viewing

• (3D to 2D) projection

2D transformations

• Scale
  $$\left[\begin{array}{c}{x}^{\prime }\\ y^{\prime }\end{array}\right]=\left[\begin{array}{cc}{s}_x& 0\\ 0& s_y\end{array}\right]\left[\begin{array}{c}x\\ y\end{array}\right]$$
  • Reflection Matrix
    $$\left[\begin{array}{c}{x}^{\prime }\\ y^{\prime }\end{array}\right]=\left[\begin{array}{cc}-1& 0\\ 0& 1\end{array}\right]\left[\begin{array}{c}x\\ y\end{array}\right]$$
  • Shear Matrix
    $$\left[\begin{array}{c}{x}^{\prime }\\ y^{\prime }\end{array}\right]=\left[\begin{array}{cc}1& a\\ 0& 1\end{array}\right]\left[\begin{array}{c}x\\ y\end{array}\right]$$
• Rotate
  $$R_{\theta }=\left[\begin{array}{cc}\cos \theta & -\sin \theta \\ \sin \theta & \cos \theta \end{array}\right]$$
• Linear Transforms = Matrices
  $$\left[\begin{array}{c}{x}^{\prime }\\ y^{\prime }\end{array}\right]=\left[\begin{array}{cc}a& b\\ c& d\end{array}\right]\left[\begin{array}{c}x\\ y\end{array}\right]$$
  $$x^{\prime }=\mathbf{M}x$$

Homogeneous coordinates

Why Homogeneous Coordinates

• Translation cannot be represented in matrix form
  $$\left[\begin{array}{c}{x}^{\prime }\\ y^{\prime }\end{array}\right]=\left[\begin{array}{cc}a& b\\ c& d\end{array}\right]\left[\begin{array}{c}x\\ y\end{array}\right]+\left[\begin{array}{c}{t}_x\\ t_y\end{array}\right]$$
  (So, translation is NOT linear transform!)
• But we don’t want translation to be a special case
• Is there a unified way to represent all transformations? (and what’s the cost?)

Solution: Homogenous Coordinates

Add a third coordinate (w-coordinate)

• 2D point = $(x,y,1{)}^T$
• 2D vector = $(x,y,0{)}^T$

Matrix representation of translations

$$\left(\begin{array}{c}{x}^{\prime }\\ y^{\prime }\\ w^{\prime }\end{array}\right)=\left(\begin{array}{ccc}1& 0& t_x\\ 0& 1& t_y\\ 0& 0& 1\end{array}\right)\cdot \left(\begin{array}{c}x\\ y\\ 1\end{array}\right)=\left(\begin{array}{c}x+t_x\\ y+t_y\\ 1\end{array}\right)$$

Valid operation if w-coordinate of result is 1 or 0

• vector + vector = vector
• point - point = vector
• point + vector = point
• point + point = ??

In homogeneous coordinates, $\left(\begin{array}{c}x\\ y\\ w\end{array}\right)$ is the 2D point $\left(\begin{array}{c}x/w\\ y/w\\ 1\end{array}\right)$, $w\ne 0$

Affine Transformations

Affine map = linear map + translation

$$\left(\begin{array}{c}{x}^{\prime }\\ y^{\prime }\end{array}\right)=\left(\begin{array}{cc}a& b\\ c& d\end{array}\right)\cdot \left(\begin{array}{c}x\\ y\end{array}\right)+\left(\begin{array}{c}{t}_x\\ t_y\end{array}\right)$$

Using homogenous coordinates:

$$\left(\begin{array}{c}{x}^{\prime }\\ y^{\prime }\\ 1\end{array}\right)=\left(\begin{array}{ccc}a& b& t_x\\ c& d& t_y\\ 0& 0& 1\end{array}\right)\cdot \left(\begin{array}{c}x\\ y\\ 1\end{array}\right)=\left(\begin{array}{c}x\\ y\\ 1\end{array}\right)$$

2D Transformations

• Scale
  $$S(s_x,s_y)=\left(\begin{array}{ccc}{s}_x& 0& 0\\ 0& s_y& 0\\ 0& 0& 1\end{array}\right)$$
• Rotation
  $$R(\alpha )=\left(\begin{array}{ccc}\cos \alpha & -\sin \alpha & 0\\ \sin \alpha & \cos \alpha & 0\\ 0& 0& 1\end{array}\right)$$
• Translation
  $$T(t_x,t_y)=\left(\begin{array}{ccc}1& 0& t_x\\ 0& 1& t_y\\ 0& 0& 1\end{array}\right)$$

Inverse Transform

$M^{-1}$ is the inverse of transform $M$ in both a matrix and geometric sense

Composite Transform

Transform Odering Matters!

Matrix multiplication is not commutative

$$R_{45}\cdot T_{(1,0)}\ne T_{(1,0)}\cdot R_{45}$$

Note that matrices are applied right to left:

$$T_{(1,0)}\cdot R_{45}\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]=\left[\begin{array}{ccc}1& 0& 1\\ 0& 1& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\cos 45^{\circ }& -\sin 45^{\circ }& 0\\ \sin 45^{\circ }& \cos 45^{\circ }& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]$$

Sequence of affine transforms $A_1$, $A_2$, $A_3$, …

• Compose by matrix multiplication
  • Very important for performance!
    $$A_n(\dots A_2(A_1(x)))=A_n\cdots A_2\cdot A_1\cdot \left(\begin{array}{c}x\\ y\\ 1\end{array}\right)$$

Decomposing Complex Transforms

How to rotate around a given point c?

1. Translate center to origin
2. Rotate
3. Translate back

3D Transforms

Use homogeneous coordinates again:

• 3D point = $(x,y,z,1{)}^T$
• 3D vector = $(x,y,z,0{)}^T$

In general, $(x,y,z,w)(w\ne 0)$ is the 3D point: $(x/w,y/w,z/w)$

Use $4\times 4$ matrices for affine transformations

$$\left(\begin{array}{c}{x}^{\prime }\\ y^{\prime }\\ z^{\prime }\\ 1\end{array}\right)=\left(\begin{array}{cccc}a& b& c& t_x\\ d& e& f& t_u\\ g& h& i& t_z\\ 0& 0& 0& 1\end{array}\right)\cdot \left(\begin{array}{c}x\\ y\\ z\\ 1\end{array}\right)$$