作者:mznewfacer(Wolf Geek) 时间:2011年11月30日 欢迎转载 ,请注明出处!
这两天又不能安生了,得写论文,好吧,先把arduino断下来,似乎我同时只能干一件事,严重怀疑自己的智商!顺便写一些基础总结吧,已备后用。可能会比较枯燥,但是必须强调的是这些都是图形图像方面的数学基础,不可忽视啊!
先看几个变换公式:
至此,二维平面上的所有变换集合就已叙述完毕,具体形式如下图所示。
![](http://hi.csdn.net/attachment/201112/2/0_1322791055KnDT.gif)
对于三维图像而言,对应的变换矩阵就变为四阶矩阵。
![](http://hi.csdn.net/attachment/201112/2/0_1322791289Q16B.gif)
这就是初始化坐标系,对应的4阶齐次矩阵为四阶单位阵。
在此坐标系上画点[0.5 ; 0.5 ; 0.5],之后在Oxy平面上做投影,所得结果如下图所示:
此时变换矩阵为
之后将坐标系绕z轴旋转45度并且在y轴方向上平移1.5个刻度,变换矩阵为
最后连续绕x轴,y轴,z轴分别旋转45度,得到结果如下图所示:
变换矩阵可以由此推得:
至于为什么引入齐次坐标系,这里就不做多余解释,详情可见这里。
最后用opengl画一下类似的坐标系变换,
#include <GL/glut.h>
float w, h, tip = 0, turn = 0;
float ORG[3] = {0,0,0};
float XP[3] = {1,0,0}, XN[3] = {-1,0,0},
YP[3] = {0,1,0}, YN[3] = {0,-1,0},
ZP[3] = {0,0,1}, ZN[3] = {0,0,-1},VP[3]={0, 0, -5};
void reshape (int nw, int nh)
{
w = nw;
h = nh;
}
void Turn (int key, int x, int y)
{
switch (key) {
case GLUT_KEY_RIGHT: turn += 5; break;
case GLUT_KEY_LEFT : turn -= 5; break;
case GLUT_KEY_UP : tip -= 5; break;
case GLUT_KEY_DOWN : tip += 5; break;
}
}
void Draw_Axes (void)
{
glPushMatrix ();
glTranslatef (-1.5, -1.5, -5);
glRotatef (tip , 1,0,0);
glRotatef (turn, 0,1,0);
glScalef (1, 1, 1);
glLineWidth (2.0);
glBegin (GL_LINES);
glColor3f (1,0,0); // X axis is red.
glVertex3fv (ORG);
glVertex3fv (XP );
glColor3f (0,1,0); // Y axis is green.
glVertex3fv (ORG);
glVertex3fv (YP );
glColor3f (0,0,1); // z axis is blue.
glVertex3fv (ORG);
glVertex3fv (ZP );
glEnd();
glTranslatef (1, 1, 1);
glBegin (GL_LINES);
glColor3f (1,0,0); // X axis is red.
glVertex3fv (ORG);
glVertex3fv (XN );
glColor3f (0,1,0); // Y axis is green.
glVertex3fv (ORG);
glVertex3fv (YN );
glColor3f (0,0,1); // z axis is blue.
glVertex3fv (ORG);
glVertex3fv (ZN );
glEnd();
glTranslatef (-1, 0, 0);
glRotatef (-90, 0,1,0);
glBegin (GL_LINES);
glColor3f (0,0,1); // X axis is blue.
glVertex3fv (ORG);
glVertex3fv (XN );
glColor3f (0,1,0); // Y axis is green.
glVertex3fv (ORG);
glVertex3fv (YN );
glColor3f (1,0,0); // z axis is red
glVertex3fv (ORG);
glVertex3fv (ZN);
glEnd();
glPointSize(4.0f);
glRotatef (-45, 0,1,0);
glBegin(GL_POINTS);
glColor3f (1,0,0); // X axis is red.
glVertex3f(-1.0f, -1.0f, 0.0f);
glEnd();
glRotatef (-90, 0,1,0);
glBegin(GL_POINTS);
glColor3f (1,0,0);
glVertex3f(1.0f, -1.0f, 0.0f);
glEnd();
glLoadIdentity();
glBegin(GL_POINTS);
glColor3f (1,0,0);
glVertex3fv(VP);
glEnd();
glPopMatrix ();
}
void display (void)
{
glViewport (0, 0, w, h);
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
Draw_Axes ();
glutSwapBuffers ();
}
void main (void)
{
glutInitWindowSize (600, 400);
glutInitWindowPosition (400, 300);
glutInitDisplayMode (GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGB);
glutCreateWindow ("坐标系变换");
glutDisplayFunc (display);
glutIdleFunc (display);
glutReshapeFunc (reshape);
glutSpecialFunc (Turn);
glClearColor (0.1, 0.2, 0.1, 1.0);
glEnable (GL_DEPTH_TEST);
glMatrixMode (GL_PROJECTION);
gluPerspective (50.0, 1.5, 1.0, 10.0);
glMatrixMode (GL_MODELVIEW);
glutMainLoop ();
}
效果图
![](http://hi.csdn.net/attachment/201112/2/0_1322797487GxHN.gif)
至于opengl的具体坐标系转换,像是世界坐标系到观察坐标系的转换,如何利用GL_PROJECTION投影矩阵将3维投影到2维上,投影时选择glFrustum()还是glOrtho(),以及各个变换的具体原理, Song Ho Ahn 的博客中已经写得相当详细,里面有两个例子也很不错。理论部分,例子部分。