TransformationsinHomogeneousCoordinates（TransformationsinHomogeneousCoordinates）.pdfVIP

Transformations in Homogeneous Coordinates∗ (Com S 477/577 Notes) Yan-Bin Jia Aug 25, 2016 Complete Section 2 1 Homogeneous Transformations 2 2 A projective transformation of the projective plane is a mapping L : P → P defined as  u   a b c   u   au + bv + cw   v  →  d e f   v  =  du + ev + fw  , (1) w g h k w gu + hv + kw where a, b, c, d, e, f, g, h, k ∈ R. The 3 × 3 matrix representing the mapping L of the projective plane is called a homogeneous transformation matrix. When g = h = 0 and k = 0, the mapping L is an affine transformation introduced in the previous lecture. Affine transformations correspond to transformations of the Cartesian plane. Note that homogeneous coordinates (ru, rv, rw) under the mapping (1) has image  aru + brv + crw   dru + erv + frw  . gru + hrv + krw A division by r gives the image L(u, v, w) of (u, v, w). Thus L(ru, rv, rw) and L(u, v, w) are equiv- alent and correspond to the same point in homogeneous coordinates. Therefore the definition of a transformation does not depend on the choice of homogeneous coordinates for a given point. 3 3 A transformation of the projective space is a mapping M : P → P given by  s   m11 m12 m13 m14   s   u   m21 m22 m23 m24  u 