3D Transformations

Three dimensional transformation is very useful and important in 3D image analysis, 3D reconstruction and Robot pose analysis.

Three dimensional geometric transformation includes translation transformation, scale transformation and rotation transformation. Three dimensional translation transformation and scale transformation can be regarded as the generalization of two-dimensional transformation, but rotation transformation is more complex.

1. Transformation Matrix

Similar to two dimensional geometric transformation, we also use homogeneous coordinates to describe the coordinates and transformation of each point in three-dimensional space. At this time, the transformation matrix describing the spatial three-dimensional transformation is in the form of 4 * 4.
$$\left[\begin{array}{c}\begin{array}{cccc}{a}_{11}& a_{21}& a_{31}& p_x\\ a_{12}& a_{22}& a_{32}& p_y\\ a_{13}& a_{23}& a_{33}& p_z\\ t_x& t_y& t_z& s\end{array}\end{array}\right]$$

Among them, $\left[\begin{array}{ccc}{a}_{11}& a_{21}& a_{31}\\ a_{12}& a_{22}& a_{32}\\ a_{13}& a_{23}& a_{33}\end{array}\right]$generates transformations such as scaling, rotation and staggered tangent by axis, $\left[\begin{array}{c}{p}_x\\ p_y\\ p_z\end{array}\right]$generates translation transformation, $\left[\begin{array}{ccc}{t}_x& t_y& t_z\end{array}\right]$generates projection transformation, and $\left[\begin{array}{c}s\end{array}\right]$generates overall scaling transform.

2. Translation Transformation

If the spatial translation amount is $(t_x,t_y,t_z)$, the translation transformation is
{ x ′ = x + t x y ′ = y + t y z ′ = z + t z \begin{cases} x' = x+t_x \\ y'=y+t_y \\ z'=z+t_z \end{cases} ⎩⎪