Lecture04 Transformation Cont.-CSDN博客

本文链接：https://blog.csdn.net/weixin_47667221/article/details/131272546

3D transformations

Use homogeneous coordinates again:

3D point = $x,y,z,1)^T$
3D vector = $x,y,z,0)^T$

In general, $(x,y,z,w)(w\neq0)$ is the 3D point: $(x / w, y / w, z / w)$

Use $4\times4$ matrices for affine transformations

$\begin{pmatrix} x'\\y'\\z'\\1 \end{pmatrix}= \begin{pmatrix} a&b&c&t_x\\d&e&f&t_u\\g&h&i&t_z\\0&0&0&1 \end{pmatrix} \cdot \begin{pmatrix} x\\y\\z\\1 \end{pmatrix}$

Scale
$S(s_x,s_y,s_z)=\begin{pmatrix}s_x&0&0&0\\0&s_y&0&0\\0&0&s_z&0\\0&0&0&1\end{pmatrix}$
Translation
$T(t_x,t_y,t_z)=\begin{pmatrix}1&0&0&t_x\\0&1&0&t_y\\0&0&1&t_z\\0&0&0&1\end{pmatrix}$
Rotation around x-, y-, or z-axis
$R_x(\alpha)=\begin{pmatrix}1&0&0&0\\0&\cos{\alpha}&-\sin{\alpha}&0\\0&\sin{\alpha}&\cos{\alpha}&0\\0&0&0&1\end{pmatrix}$
$R_y(\alpha)=\begin{pmatrix}\cos{\alpha}&0&\sin{\alpha}&0\\0&1&0&0\\-\sin{\alpha}&0&\cos{\alpha}&0\\0&0&0&1\end{pmatrix}$
$R_z(\alpha)=\begin{pmatrix}\cos{\alpha}&-\sin{\alpha}&0&0\\\sin{\alpha}&\cos{\alpha}&0&0\\0&0&1&0\\0&0&0&1\end{pmatrix}$
3D Rotations

Compose any 3D rotation from $R_x,R_y,R_z$ ?
$R_{xyz}(\alpha,\beta,\gamma)=R_x(\alpha)R_y(\beta)R_z(\gamma)$
- So-called Euler angles
- Often used in flight simulators: roll, pitch, yaw

Rodrigues’ Rotaion Formula: Rotation by angle $\alpha$ around axis $n$

$\bold{R}(\bold{n},\alpha)=\cos{\alpha}\bold{I}+(1-\cos{\alpha})\bold{n}\bold{n}^T+\sin{\alpha}\underbrace{\begin{pmatrix}0&-n_z&n_y\\ n_z&0&-n_x\\ -n_y&n_x&0\end{pmatrix}}_\text{N}$

Viewing transformation

View / Camera transformation

What is view transformation?
Think about how to take a photo
- Find a good place and arrange people (model transformation)
- Find a good ‘angle’ to put the camera (view transformation)
- Cheese! (projection transformation)
How to perform view transformation?
Define the camera first
- Position $\vec{e}$
- Look-at / gaze direction $\hat{g}$
- Up direction $\hat{t}$
Key observation
- If the camera and all objects move together, the ‘photo’ will be the same
How about that we always transform the camera to
- The origin, up at Y, look at -Z
- And transform the objects along with the camera
Transform the camera by $M_{view}$
- So it’s located at the origin, up at Y, look at -Z
$M_{view}$ in math?
- Let’s write $M_{view}=R_{view}T_{view}$
- Translate e to origin
  $T_{view}=\begin{bmatrix}1&0&0&-x_e\\0&1&0&-y_e\\0&0&1&-z_e\\0&0&0&1\end{bmatrix}$
- Rotate g to -Z, t to Y, (g x t) to X
- Consder its inverse rotation: X to (g x t), Y to t, Z to -g
  $R_{view}^{-1}= \begin{bmatrix} x_{\hat{g}\times\hat{t}}&x_t&x_{-g}&0\\ y_{\hat{g}\times\hat{t}}&y_t&y_{-g}&0\\ z_{\hat{g}\times\hat{t}}&z_t&z_{-g}&0\\ 0&0&0&1 \end{bmatrix} \Rightarrow R_{view}= \begin{bmatrix} x_{\hat{g}\times\hat{t}}&y_{\hat{g}\times\hat{t}}&z_{\hat{g}\times\hat{t}}&0\\ x_t&y_t&z_t&0\\ x_{-g}&y_{-g}&z_{-g}&0\\ 0&0&0&1 \end{bmatrix}$
Summary
- Transform objects together with the camera
- Until camera’s at the origin, up at Y, look at -Z
Also known as ModelView Transformation

Projection transformation

Projection in Computer Graphics
- 3D to 2D
- Orthographic projection
- Perspective projection

Orthographic projection

A simple way of understanding
- Camera located at origin, looking at -Z, up at Y
- Drop Z coordinate
- Translate and scale the result rectangle to $1,1]^{2}$
In general
- We want to map a cubiod $[l,r]\times[b,t]\times[\bold{f},\bold{n}]$ to the ‘canonical’ cube $1,1]^{3}$
Slightly different orders
- Center cuboid by translating
- Scale into ‘canonical’ cube
Transformation matrix?
- Translate (center to origin) first, then scale (length / width / height to 2)
  $M_{ortho}= \begin{bmatrix} \frac{2}{r-l}&0&0&0\\ 0&\frac{2}{t-b}&0&0\\ 0&0&\frac{2}{n-f}&0\\ 0&0&0&1 \end{bmatrix} \begin{bmatrix} 1&0&0&-\frac{r+l}{2}\\ 0&1&0&-\frac{t+b}{2}\\ 0&0&1&-\frac{n+f}{2}\\ 0&0&0&1 \end{bmatrix}$
Caveat
- Looking at / along -Z is making near and far not intuitive (n > f)
- FYI: that’s why OpenGL (a Graphic API) uses left hand coords

Perspective projection

Most common in Computer Graphics, art, visual system
Further objects are smaller
Parallel lines not parallel; converge to single point
How to do perspective projection
- First ‘squish’ the frustum into a cuboid ( $n\rightarrow n$ , $f\rightarrow f$ ) ( $M_{persp\rightarrow ortho}$ )
- Do orthographic projection ( $M_{ortho}$ , already known!)
In order to find a transformation
- Recall the key idea: Find the relationship between transformed points $(x^{'}, y^{'}, z^{'})$ and the original points $(x, y, z)$
  $y'=\frac{n}{z}y\qquad x'=\frac{n}{z}x\quad\text{(similar to y')}$
In homongeneous coordinates,
$\begin{pmatrix}x\\y\\z\\1\end{pmatrix}\Rightarrow \begin{pmatrix}nx/z\\ny/z\\\text{unknown}\\1\end{pmatrix}= \begin{pmatrix}nx\\ny\\\text{still unknown}\\z\end{pmatrix}$
So the ‘squish’ (persp to ortho) projection does this
$M^{4\times4}_{persp\rightarrow ortho}\begin{pmatrix}x\\y\\z\end{pmatrix}=\begin{pmatrix}nx\\ny\\\text{unknown}\\z\end{pmatrix}$
Already good enough to figure out a part of $M_{persp\rightarrow ortho}$
$M_{persp\rightarrow ortho}= \begin{pmatrix}n&0&0&0\\0&n&0&n\\?&?&?&?\\0&0&1&0\end{pmatrix}$
How to figure out the third row of $M_{persp\rightarrow ortho}$
- Any information that we can use?
Observation: the third row is responsible for z’
- Any point on the near plane will not change
  - So the third row must be of the form $(0, 0, A, B)$
- Any point’s z on the far plane will not change
  - $An+b=n^2$
  - $Af+B=f^2$
Finally, every entry in $M_{persp\rightarrow ortho}$ is known!
What’s next?
- Do orthographic projection ( $M_{ortho}$ ) to finish
- $M_{persp}=M_{ortho}M_{persp\rightarrow ortho}$