1. Representation CS4395: Computer Graphics 1 Mohan Sridharan Based on slides created by Edward Angel

2. Objectives Introduce dimension and basis. Introduce coordinate systems for vectors spaces and frames for affine spaces. Discuss change of frames and bases. Introduce homogeneous coordinates. CS4395: Computer Graphics 2

3. Linear Independence A set of vectors v 1, v 2, …, v n is linearly independent if  1 v 1 +  2 v 2 +..  n v n =0 iff  1 =  2 =…=0 If a set of vectors is linearly independent, we cannot represent one in terms of the others. If a set of vectors is linearly dependent, as least one can be written in terms of the others. CS4395: Computer Graphics 3

4. Dimension In a vector space, the maximum number of linearly independent vectors is fixed and is called the dimension of the space. In an n-dimensional space, any set of n linearly independent vectors form a basis for the space. Given basis v 1, v 2,…., v n, any vector v can be written as: v=  1 v 1 +  2 v 2 +….+  n v n where the {  i } are scalars. CS4395: Computer Graphics 4

5. Representation Until now we have worked with geometric entities without using any frame of reference, such as a coordinate system. Need a frame of reference to relate points and objects to our physical world: – For example, where is a point? Cannot answer without a reference system. – World coordinates. – Camera coordinates. CS4395: Computer Graphics 5

6. Coordinate Systems Consider a basis v 1, v 2,…., v n A vector is written v=  1 v 1 +  2 v 2 +….+  n v n The list of scalars {  1,  2, ….  n } is the representation of v with respect to the given basis. We can write the representation as a row or column array of scalars. CS4395: Computer Graphics 6 a=[  1  2 ….  n ] T =

7. Example v=2v 1 +3v 2 -4v 3 a=[2 3 –4] T This representation is with respect to a particular basis. In OpenGL, we start by representing vectors using the object basis but later the system needs a representation in terms of the camera or eye basis. CS4395: Computer Graphics 7

8. Coordinate Systems Which is correct? Both because vectors have no fixed location! CS4395: Computer Graphics 8 v v

9. Frames A coordinate system is insufficient to represent points. If we work in an affine space we can add a single point, the origin, to the basis vectors to form a frame. CS4395: Computer Graphics 9 P0P0 v1v1 v2v2 v3v3

10. Representation in a Frame Frame determined by (P 0, v 1, v 2, v 3 ). Within this frame, every vector can be written as: v=  1 v 1 +  2 v 2 +….+  n v n Every point can be written as: P = P 0 +  1 v 1 +  2 v 2 +….+  n v n CS4395: Computer Graphics 10

11. Confusing Points and Vectors Consider the point and the vector: P = P 0 +  1 v 1 +  2 v 2 +….+  n v n v=  1 v 1 +  2 v 2 +….+  n v n They appear to have the similar representations p=[  1  2  3 ] v=[  1  2  3 ] which confuses the point with the vector. A vector has no position! CS4395: Computer Graphics 11 v p v Vector can be placed anywhere point: fixed

12. A Single Representation If we define 0P = 0 and 1P =P then we can write v=  1 v 1 +  2 v 2 +  3 v 3 = [  1  2  3 0 ] [v 1 v 2 v 3 P 0 ] T P = P 0 +  1 v 1 +  2 v 2 +  3 v 3 = [  1  2  3 1 ] [v 1 v 2 v 3 P 0 ] T Thus we obtain the four-dimensional homogeneous coordinate representation v = [  1  2  3 0 ] T p = [  1  2  3 1 ] T CS4395: Computer Graphics 12

13. Homogeneous Coordinates The homogeneous coordinates for a 3D point [x y z]: p =[x’ y’ z’ w] T =[wx wy wz w] T We return to a three dimensional point (for w  0 ) by x  x’ /wy  y’/wz  z’/w If w=0, the representation is that of a vector: Homogeneous coordinates replaces points in 3D by lines through the origin in four dimensions. For w=1, the representation of a point is [x y z 1] CS4395: Computer Graphics 13

14. Homogeneous Coordinates and CG Homogeneous coordinates are key to all computer graphics systems: – All standard transformations (rotation, translation, scaling) can be implemented with matrix multiplications using 4 x 4 matrices. – Hardware pipeline works with 4D representations. – For orthographic viewing, we can maintain w=0 for vectors and w=1 for points. – For perspective we need a perspective division. CS4395: Computer Graphics 14

15. Change of Coordinate Systems Consider two representations of the same vector with respect to two different bases: CS4395: Computer Graphics 15 v=  1 v 1 +  2 v 2 +  3 v 3 = [  1  2  3 ] [v 1 v 2 v 3 ] T =  1 u 1 +  2 u 2 +  3 u 3 = [  1  2  3 ] [u 1 u 2 u 3 ] T a=[  1  2  3 ] b=[  1  2  3 ] where

16. Second basis in terms of first Each of the basis vectors, u1,u2, u3, are vectors that can be represented in terms of the first basis: CS4395: Computer Graphics 16 u 1 =  11 v 1 +  12 v 2 +  13 v 3 u 2 =  21 v 1 +  22 v 2 +  23 v 3 u 3 =  31 v 1 +  32 v 2 +  33 v 3 v

17. Matrix Form The coefficients define a 3 x 3 matrix: The bases can be related by: See text for numerical examples. CS4395: Computer Graphics 17 a=M T b M =

18. Change of Frames Can apply similar process in homogeneous coordinates to the representations of both points and vectors. Any point or vector can be represented in either frame. We can represent Q 0, u 1, u 2, u 3 in terms of P 0, v 1, v 2, v 3. CS4395: Computer Graphics 18 Consider two frames: (P 0, v 1, v 2, v 3 ) (Q 0, u 1, u 2, u 3 ) P0P0 v1v1 v2v2 v3v3 Q0Q0 u1u1 u2u2 u3u3

19. Representing One Frame in Terms of the Other u 1 =  11 v 1 +  12 v 2 +  13 v 3 u 2 =  21 v 1 +  22 v 2 +  23 v 3 u 3 =  31 v 1 +  32 v 2 +  33 v 3 Q 0 =  41 v 1 +  42 v 2 +  43 v 3 +  44 P 0 CS4395: Computer Graphics 19 Extending what we did with change of bases: defining a 4 x 4 matrix: M =

20. Working with Representations Within the frames any point or vector has a representation of the same form: a=[  1  2  3  4 ] in the first frame b=[  1  2  3  4 ] in the second frame  4   4  for points and  4   4  for vectors. and A 4x4 matrix M specifies an affine transformation in homogeneous coordinates: CS4395: Computer Graphics 20 a=M T b

21. Affine Transformations Every linear transformation is equivalent to a change in frames. Every affine transformation preserves lines. An affine transformation has only 12 degrees of freedom because 4 of the elements in the matrix are fixed and a subset of all possible 4 x 4 linear transformations. CS4395: Computer Graphics 21

22. The World and Camera Frames When we work with representations, we work with n-tuples or arrays of scalars. Changes in frame are then defined by 4 x 4 matrices. In OpenGL, the base frame that we start with is the world frame. Eventually we represent entities in the camera frame by changing the world representation using the model-view matrix. Initially these frames are the same ( M=I ). CS4395: Computer Graphics 22

23. Moving the Camera If objects are on both sides of z=0, we must move camera frame: CS4395: Computer Graphics 23 M =