Unit 3: Two Dimensional Geometric Transformation

Basic Transformations:
Translation
Rotation
Scaling
(with matrix representation and Homogeneous coordiantes)
Composite Transformation
Other Transformations: Reflection and Shearing
 2D Rotation
 A 2D Rotation is applied to an object by
repositioning it along a circular path in
the xy plane
 To generate a rotation, we specify a
rotation angle and the position (Xr,Yr) of
the rotation point or pivot point about
which the object is to be rotated as
shown in the diagram

 Positive values for the rotation angle

define counter clockwise rotation about
the pivot point
 Negative values rotate the objects in the
clockwise direction
2D Rotation
 The angular and coordinate relationships of the
original and transformed point positions are shown
in the diagram
 In this, r is the constant distance of the point from
the origin, angle Ø is the original angular position of
the point from the horizontal, and theta is the
rotation angle
 Using standard trigonometric identities, we can
express the transformed coordinates in terms of
angle theta and Ø as
2D Rotation
2D Rotation Example
 2D Rotation
 Rotation of a point about an arbitrary pivot
 2D Rotation
 Rotation of a point about an arbitrary pivot
Using the trigonometric relationship, we can generalize the
equation

To obtain the transformation equations for rotation of a point

about any specified rotation position (Xr, Yr)