Transformations 1
Transformations 1
Transformations 1
y y
. .
P ‘ (x ‘ , y ‘)
𝑎 sin 𝜃
P
(x , y)
𝑎 sin 𝜃 . P (x , y)
a
a
α
θ
θ
𝑎 cos 𝜃 x 𝑎 cos 𝜃 x
𝑥′ cos 𝜃 −𝑠𝑖𝑛𝜃 𝑥
=
𝑦′ 𝑠𝑖𝑛𝜃 cos 𝜃 𝑦
P’ = R P
Scaling
2D Translation using homogeneous coordinates
w=1
2D Rotation using homogeneous coordinates
w=1
2D Scaling using homogeneous coordinates
w=1
Shearing
• X-Shear
• Y shear
2D shear transformation
• Successive translations:
2D Scaling using homogeneous coordinates
• Successive scalings:
2D Rotation using homogeneous coordinates
• Successive rotations:
or
Composition of transformations
• Rigid transformations
• Involves only translation and
rotation (3 parameters)
• Preserve angles and lengths
Special cases of transformations
• Similarity transformations
• Involve rotation, translation, scaling (4 parameters)
• Preserve angles but not lengths
Affine transformations
• Right-handed
Positive rotation angles for right-handed systems:
(counter-clockwise rotations)
3D Translation
3D Rotation