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Computer Graphics 02/10/09Lecture 41 Computer Graphics Lecture 3 Transformations

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Computer Graphics 02/10/09Lecture 42 From the last lecture... –Once the models are prepared, we need to place them in the environment –Objects are defined in their own local coordinate system –We need to translate, rotate and scale them

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Computer Graphics 02/10/09Lecture 43 Transformations. Translation. –P=T + P Scale –P=S P Rotation –P=R P We would like all transformations to be multiplications so we can concatenate them express points in homogenous coordinates.

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Computer Graphics 02/10/09Lecture 44 Homogeneous coordinates Add an extra coordinate, W, to a point. –P(x,y,W). Two sets of homogeneous coordinates represent the same point if they are a multiple of each other. –(2,5,3) and (4,10,6) represent the same point. At least one component must be non-zero (0,0,0) is not defined. If W 0, divide by it to get Cartesian coordinates of point (x/W,y/W,1). If W=0, point is said to be at infinity.

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Computer Graphics 02/10/09Lecture 45 Translations in homogenised coordinates Transformation matrices for 2D translation are now 3x3.

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Computer Graphics 02/10/09Lecture 46 Concatenation. We perform 2 translations on the same point:

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Computer Graphics 02/10/09Lecture 47 Concatenation. Matrix product is variously referred to as compounding, concatenation, or composition

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Computer Graphics 02/10/09Lecture 48 Concatenation. Matrix product is variously referred to as compounding, concatenation, or composition.

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Computer Graphics 02/10/09Lecture 49 Properties of translations. Note : 3. translation matrices are commutative.

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Computer Graphics 02/10/09Lecture 410 Homogeneous form of scale. Recall the (x,y) form of Scale : In homogeneous coordinates :

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Computer Graphics 02/10/09Lecture 411 Concatenation of scales.

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Computer Graphics 02/10/09Lecture 412 Homogeneous form of rotation.

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Computer Graphics 02/10/09Lecture 413 Orthogonality of rotation matrices.

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Computer Graphics 02/10/09Lecture 414 Other properties of rotation.

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Computer Graphics 02/10/09Lecture 415 How are transforms combined? (0,0) (1,1) (2,2) (0,0) (5,3) (3,1) Scale(2,2)Translate(3,1) TS = 2020 0202 0000 1010 0101 3131 2020 0202 3131 = Scale then Translate Use matrix multiplication: p' = T ( S p ) = TS p Caution: matrix multiplication is NOT commutative! 001001001

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Computer Graphics 02/10/09Lecture 416 Non-commutative Composition Scale then Translate: p' = T ( S p ) = TS p Translate then Scale: p' = S ( T p ) = ST p (0,0) (1,1) (4,2) (3,1) (8,4) (6,2) (0,0) (1,1) (2,2) (0,0) (5,3) (3,1) Scale(2,2)Translate(3,1) Scale(2,2)

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Computer Graphics 02/10/09Lecture 417 TS = 200200 020020 001001 100100 010010 311311 ST = 2020 0202 0000 1010 0101 3131 Non-commutative Composition Scale then Translate: p' = T ( S p ) = TS p 200200 020020 311311 2020 0202 6262 = = Translate then Scale: p' = S ( T p ) = ST p 001 001001

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Computer Graphics 02/10/09Lecture 418 How are transforms combined? (0,0) (1,1) (0,sqrt(2)) (0,0) (3,sqrt(2)) (3,0) Rotate 45 degTranslate(3,0) Rotate then Translate Caution: matrix multiplication is NOT commutative! Translate then Rotate (0,0) (1,1) (0,0) (3,0) Rotate 45 deg Translate(3,0)(3/sqrt(2),3/sqrt(2))

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Computer Graphics 02/10/09Lecture 419 TR = 010010 0 001001 100100 010010 311311 RT = 1010 0101 3131 Non-commutative Composition Rotate then Translate: p' = T ( R p ) = TR p 000000 0 311311 010010 0 3 1 = = Translate then Rotate: p' = R ( T p ) = RT p 001 010010 0 001001 010010 0 001001 010010 0 001001 010010 0 001001 010010 0 001001

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Computer Graphics 02/10/09Lecture 420 Types of transformations. Rotation and translation –Angles and distances are preserved –Unit cube is always unit cube –Rigid-Body transformations. Rotation, translation and scale. –Angles & distances not preserved. –But parallel lines are.

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Computer Graphics 02/10/09Lecture 421 Transformations of coordinate systems. Have been discussing transformations as transforming points. Always need to think the transformation in the world coordinate system Useful to think of them as a change in coordinate system. Model objects in a local coordinate system, and transform into the world system.

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Computer Graphics 02/10/09Lecture 422 Transformations of coordinate systems - Example Concatenate local transformation matrices from left to right Can obtain the local – world transformation matrix p’,p’’,p’’’ are the world coordinates of p after each transformation

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Computer Graphics 02/10/09Lecture 423 Transformations of coordinate systems - example pn is the world coordinate of point p after n transformations

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Computer Graphics 02/10/09Lecture 424 Quiz I sat in the car, and realized the side mirror is 0.4m on my right and 0.3m in my front I started my car and drove 5m forward, turned 30 degrees to right, moved 5m forward again, and turned 45 degrees to the right, and stopped What is the position of the side mirror now, relative to where I was sitting in the beginning?

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Computer Graphics 02/10/09Lecture 425 Solution The side mirror position is locally (0,4,0.3) The matrix of first driving forward 5m is

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Computer Graphics 02/10/09Lecture 426 Solution The matrix to turn to the right 30 and 45 degrees (rotating -30 and -45 degrees around the origin) are

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Computer Graphics 02/10/09Lecture 427 Solution The local-to-global transformation matrix at the last configuration of the car is The final position of the side mirror can be computed by TR 1 TR 2 p which is around (2.89331, 9.0214)

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Computer Graphics 02/10/09Lecture 428 This is convenient for character animation / robotics In robotics / animation, we often want to know what is the current 3D location of the end effectors (like the hand) Can concatenate matrices from the origin of the body towards the end effecter

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Computer Graphics 02/10/09Lecture 429 Transformations of coordinate systems.

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Computer Graphics 02/10/09Lecture 430 3D Transformations. Use homogeneous coordinates, just as in 2D case. Transformations are now 4x4 matrices. We will use a right-handed (world) coordinate system - ( z out of page ). z (out of page) y x

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Computer Graphics 02/10/09Lecture 431 Translation in 3D. Simple extension to the 3D case:

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Computer Graphics 02/10/09Lecture 432 Scale in 3D. Simple extension to the 3D case:

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Computer Graphics 02/10/09Lecture 433 Rotation in 3D Need to specify which axis the rotation is about. z-axis rotation is the same as the 2D case.

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Computer Graphics 02/10/09Lecture 434 Rotating About the x-axis R x ( )

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Computer Graphics 02/10/09Lecture 435 Rotating About the y-axis R y ( )

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Computer Graphics 02/10/09Lecture 436 Rotation About the z-axis R z ( )

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Computer Graphics 02/10/09Lecture 437 Rotation in 3D For rotation about the x and y axes:

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Computer Graphics 02/10/09Lecture 438 Rotation about an arbitrary axis About (u x, u y, u z ), a unit vector on an arbitrary axis x' y' z' 1 = xyz1xyz1 u x u x (1-c)+c u y u x (1-c)+u z s u z u x (1-c)-u y s 0 00010001 u z u x (1-c)-u z s u z u x (1-c)+c u y u z (1-c)+u x s 0 u x u z (1-c)+u y s u y u z (1-c)-u x s u z u z (1-c)+c 0 where c = cos θ & s = sin θ Rotate(k, θ) x y z θ u

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Computer Graphics 02/10/09Lecture 439 Transform Left-Right, Right-Left Transforms between world coordinates and viewing coordinates. That is: between a right-handed set and a left- handed set.

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Computer Graphics 02/10/09Lecture 440 Shearing

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Computer Graphics 02/10/09Lecture 441 Calculating the world coordinates of all vertices For each object, there is a local-to-global transformation matrix So we apply the transformations to all the vertices of each object We now know the world coordinates of all the points in the scene

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Computer Graphics 02/10/09Lecture 442 Normal Vectors We also need to know the direction of the normal vectors in the world coordinate system This is going to be used at the shading operation We only want to rotate the normal vector Do not want to translate it

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Computer Graphics 02/10/09Lecture 443 Normal Vectors - (2) We need to set elements of the translation part to zero

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Computer Graphics 02/10/09Lecture 444 Viewing Now we have the world coordinates of all the vertices Now we want to convert the scene so that it appears in front of the camera

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Computer Graphics 02/10/09Lecture 445 View Transformation We want to know the positions in the camera coordinate system We can compute the camera-to-world transformation matrix using the orientation and translation of the camera from the origin of the world coordinate system M c→w

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Computer Graphics 02/10/09Lecture 446 View Transformation We want to know the positions in the camera coordinate system v w = M c→w v c v c = M c → w v w = M w→c v w Point in the world coordinate Point in the camera coordinate Camera-to-world transformation

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Computer Graphics 02/10/09Lecture 447 Summary. Using homogeneous transformation, translation, rotation and scaling can all be represented by multiplication of a 4x4 matrix Multiplication from left-to-right can be considered as the transformation of the coordinate system Need to multiply the camera matrix from the left at the end Reading: Foley et al. Chapter 5, Appendix 2 sections A1 to A5 for revision and further background (Chapter 5)

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