CHAPTER FIVE

GEOMETRICAL TRANSFORMATIONS

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Chapter 5: Geometrical Transformations

• 3D Transformation
• Matrix Representation
• Homogeneous Coordinates
• Combination of Transformations

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 3D TRANSFORMATION
• Is a function that takes a point (or vector) and
maps that point (or vector) into another point
(or vector).
• A coordinate transformation of the form:

is called a 3D affine transformation

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 Cont..
• To transform something is to change it. In
geometry, there are specific ways to describe
how a figure is changed. The transformations
are
• Translation
• Rotation
• Reflection
• Dilation
• Share

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 cont.…

– Translation (Change the starting and end points of an

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 Translation
• A translation “slides” an object a fixed
distance in a given direction.
• The original object and translation have the
same shape and size and they face in the same
direction.

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 Cont..
A point can be translated in 3D by adding translation coordinate
(tx, ty, tz) to the original coordinate (X, Y, Z) to get the new
coordinate (X’, Y’, Z’).
– X’ = X + tx
– Y’ = Y + ty
– Z’ = Z + tz
– P’ = P + t

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 Matrix rep. of translation

P' P  T, met
 x'   x  tx 
     
P'  y '  , P  y  en T  t y 
 z'   z t 
     z

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 Rotation
• 3D Rotation
– In rotation we have to specify the angle of rotation along
with the axis of rotation. We can perform 3D rotation
about X, Y, and Z axes.
– An object and its rotation are the same shape and size.

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 Cont..
X-AXIS - Rotation
Rotate over angle  around x - as :
y '  y cos   z sin 
z '  y sin   z cos 
z y
x'  x
Or
P' R x ( ) P, with x
1 0 0 0
 
0 cos   sin  0
R x ( ) 
0 sin  cos  0
 
0 0 0 1 

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 Cont..
Y-AXIS - Rotation
Rotate over angle  around y - as :
z '  z cos   x sin 
x'  z sin   x cos 
y'  y
z y
Or
P' R y ( )P, with
x
 cos  0 sin  0
 
 0 1 0 0
R y ( ) 
 sin  0 cos  0
 
 0 0 0 1 

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 Cont..
Z- AXIS - Rotation
Rotate over angle  around z - as :
x'  x cos   y sin 
y '  x sin   y cos 
z ' z
z y
Or
P' R z ( )P, with
 cos   sin  0 0 x
 
 sin  cos  0 0
R z ( ) 
0 0 1 0
 
 0 0 0 1 


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 Scaling
• 3D Scaling
– We can change the size of an object using scaling
transformation. In the scaling process, we either expand or
compress the dimensions of the object.
– x’ = x * sx
– y’ = y * sy
– z’ = z * sz
– P’ = P * s

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Matrix rep. of scaling

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 Homogeneous coordinates
• Homogeneous Coordinates
– For any 3D object, we have X, Y, Z Coordinates.
– Homogeneous coordinates have an extra dimension
called W, which scales the X, Y, and Z dimensions.
Matrices for translation and perspective projection
transformations can only be applied to
homogeneous coordinates.

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Combination of transformation

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Combination of transformation

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END OF CHAPTER 5