数学应用 —— 三维模型绕坐标轴旋转

应用场景

  现有三维模型Model（vtx），坐标系中任意朝向。需要将该模型进行绕轴旋转，使得该模型能够基本摆正。

理论介绍

  相关旋转的数学理论，可以参考下面链接：[https://www.cnblogs.com/zhoug2020/p/7842808.html].(https://www.cnblogs.com/zhoug2020/p/7842808.html)

示例代码

1. 函数void get_M()是生成相应的旋转矩阵

   void get_M(float degree, cv::Point3f axis, cv::Mat roate_matrix)
   {
   	float x = axis.x, y = axis.y, z = axis.z;
   	degree = degree * 3.1492657 / 180;
   	float c = cos(degree);
   	float s = sin(degree);
   
   	cv::Point3f col;
   	roate_matrix.at<float>(0, 0) = x * x * (1 - c) + c;
   	roate_matrix.at<float>(0, 1) = x * y * (1 - c) - z * s;
   	roate_matrix.at<float>(0, 2) = x * z * (1 - c) + y * s;
   
   	roate_matrix.at<float>(1, 0) = x * y * (1 - c) + z * s;
   	roate_matrix.at<float>(1, 1) = y * y * (1 - c) + c;
   	roate_matrix.at<float>(1, 2) = y * z * (1 - c) - x * s;
   
   	roate_matrix.at<float>(2, 0) = x * z * (1 - c) - y * s;
   	roate_matrix.at<float>(2, 1) = y * z * (1 - c) + x * s;
   	roate_matrix.at<float>(2, 2) = z * z * (1 - c) + c;
   	cout << "get_M计算: " << roate_matrix << endl;
   	return;
   }	
   

2. 根据上面的计算矩阵，下面的代码进行模型的旋转：

   /**
   * @brief 对三维模型进行绕坐标轴进行连续旋转
   * @param angle 待旋转的角度和对应的坐标轴
   * @param vtx   待旋转的三维模型
   *
   * @return 返回旋转后的模型
   *         -NULL
   */
   void Measure::rotate_ALL(vector<pair<int, cv::Point3f>> angle, vector<Pnt3> &vtx)
   {
   	cv::Mat M = cv::Mat::eye(3, 3, CV_32FC1);
   	for (int i = 0; i < angle.size(); i++)
   	{
   		cv::Mat roate_matrix = cv::Mat::eye(3, 3, CV_32FC1);
   		cout << roate_matrix << endl;
   		get_M(angle[i].first, angle[i].second, roate_matrix);  // 形参的rotate_matrix改变，实参的也改变，它们的内存地址是一样的
   		cout << roate_matrix << endl;
   		M = roate_matrix*M;
   	}
   
   	// 输出旋转矩阵
   	//ofstream mm("mm_test12.txt");
   	//for (int i = 0; i < 3; i++)
   	//{
   	//	for (int j = 0; j < 3; j++)
   	//	{
   	//		mm << M.at<float>(i,j) << " ";
   	//	}
   	//	mm << "\n";
   	//}
   	//mm << M << endl;
   
   	float scale = 1.0;
   	for (int i = 0; i < vtx.size(); i++)
   	{
   		cv::Mat V = cv::Mat::ones(3, 1, CV_32FC1);
   		V.at<float>(0, 0) = vtx[i][0] * scale;  // 将模型缩放
   		V.at<float>(1, 0) = vtx[i][1] * scale;
   		V.at<float>(2, 0) = vtx[i][2] * scale;
   
   		//V.at<float>(0, 0) = vtx[i][0];  // 将模型缩放
   		//V.at<float>(1, 0) = vtx[i][1];
   		//V.at<float>(2, 0) = vtx[i][2];
   
   		V = M*V;
   		vtx[i][0] = V.at<float>(0, 0);
   		vtx[i][1] = V.at<float>(1, 0);
   		vtx[i][2] = V.at<float>(2, 0);
   	}
   }
   

3. 函数调用：

   // 给出旋转角度和相应的旋转轴
   angle.push_back(make_pair(110, cv::Point3f(1, 0, 0)));
   angle.push_back(make_pair(45, cv::Point3f(0, 0, 1)));
   	
   // vtx:三维模型的顶点坐标
   rotate_ALL(angle, vtx);
   

参考资源

  矩阵旋转的公式详细推导