CG Chapter3

3D Concepts 3D Transformations 3D Viewing
Chapter 3 - 3D Transformation and Viewing
by
Tesfamicael.W Arefaine
May 28, 2017
Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 1 / 38

3D Concepts 3D Transformations 3D Viewing Display Method
3D Concepts
3D graphics deals with generating and displaying 3D objects in a 2D
space(display screen).
Considerations we must take in to account, When we model and
display a 3D scene.
1 Object boundaries: constructed with various combinations of plane
and curved surfaces.
2 Specify object interiors information.
3 3D rotation is more complicated as we can rotate an object an axis
with any special orientation.
4 Viewing transformation are more complicated because we have more
parameters to select.
5 Identified Visible parts of a scene and apply surface-rendering
algorithms.

Display Method
To obtain a display of a 3D scene:
1 Set up a coordinate reference for the camera.
This coordinate reference defines the position and orientation for the
plane of the camera film, which is the plane we want to use to display
a view of the objects in the scene.
2 Object descriptions are then transformed to the camera reference
coordinates and Projected to the selected display plane.

Parallel Projection:
Parallel lines in the world-coordinate scene projected into parallel
lines on the 2D display plane.
This technique is used in engineering and architectural drawings to
represent an object with a set of views that maintain relative
proportions of the object.

Perspective Projection
Paralle lines in a scane that are not parallel to the display plane are
projected into converging lines.
This causes objects farther from the viewing position to be displayed
smaller than objects of the same size that are nearer to the viewing
position.
It provides more realistic scane, since this is the way that are eyes
and a camera lens form images.

Depth Cueing
Depth information is important to identify, for a particular viewing
direction, which is the front and back of displayed objects.
Some ways to include depth info.

1 In wire-frame display vary the intensity of objects according to their
distance from the viewing position and is applied by choosing
maximum and minimum intensity (or color) values and a range of
distances over which the intensities are to vary.
2 Modelling the effect of the atmosphere on the perceived intensity of
objects. More distant objects appear dimmer to us than nearer
objects due to light scattering by dust particles, haze, and smoke.

Visible Line and Surface Identification

Identifing visible lines:
1 Highlight the visible lines or display them in a different color, but
hidden surfaces are obscured.
2 Another technique, commonly used for engineering drawings, is
display the non visible lines as dashed lines.
3 Another approach is to simply remove the non visible lines, but it also
removes information about the shape of the back surfaces of an object
These visible-line methods also identify the visible surfaces of
objects.

Surface Rendering
Added realism is attained in displays by setting the surface intensity
of objects according to
1 The lighting conditions in the scene
2 The assigned surface characteristics.
Lighting specifications include the intensity and positions of light
sources and the general background illumination required for a scene.
Surface properties of objects include degree of transparency and how
rough or smooth the surfaces are to be.

3D Concepts 3D Transformations 3D Viewing 3D Translations 3D Scaling 3D Rotation
3D Transformations

3D Translations:
In a 3D homogeneous coordinate representation, a point is
translated from position P = (x, y, z) to position P’=(x’, y’, z’) with
the matrix operation.
     0
1 0 0 tx x x
0 1 0 ty  y  y 0  0
0 0 1 tz  ∗ z  = z 0  , P = T .P
     
0 0 0 1 1 1
Parameters tx , ty , and tz specify translation distances.

The matrix representation in the above is equivalent
x’=x + tx , y’=y + ty and z’=z + tz

3D Scaling
Scaling changes the size of the object and reposition the object
relative to the coordinate origin.
     0
sx 0 0 0 x x
 0 sy 0 0 y  y 0  0
 0 0 sz 0 z  = z 0  , S.P = P
    
0 0 0 1 1 1
Preserve original shape if sx =sy =sz

3D Scaling
Scaling with respect to a selected pixel position (xf , yf , zf ) can be
represented with the ff transformation:
1 Translate the fixed point to the origin.
2 Scale the object relative to the coordinate origin.
3 Translate the fixed point back to its original position.
The transformation matrix will be:
 
sx 0 0 (1 − sx )xf
 0 sy
 0 (1 − sy )yf 

0 0 sz (1 − sz )zf 
0 0 0 1

3D Rotations
To generate rotation transformation for an object, we must
designate an axis of rotation and amount of angular rotation.
Unlike 2D rotation, where all the transformations are carried out in
the xy plane, a 3D rotation can be specified around any line in space.
Z-axis Rotation:
x’=x cosθ - y sinθ
y’=x sinθ + y cosθ
z’=z  
cosθ −sinθ 0 0
 sinθ cosθ 0 0
Rz (θ) = 
 0

0 1 0
0 0 0 1

3D Rotations
X-axis rotation: Y-axis rotation:
x’=x x’=z sin θ + x cos θ
y’=y cos θ - z sin θ y’=y
z’=y sin θ + z cos θ z’=z cos θ - x sin θ
Permutation: Permutation:
x →y →z →x x →z →y →x
   
1 0 0 0 cosθ 0 sinθ 0
0 cosθ −sinθ 0  0 1 0 0
Rx (θ) = 
0 sinθ cosθ 0
 Ry (θ) = 
−sinθ

0 cosθ 0
0 0 0 1 0 0 0 1

General 3D Rotations
A rotation matrix for any axis that does not coincide with a
coordinate axis can be set up as composite transformation of:
1 Translate the object so that the rotation axis passes through the
coordinate origin.
2 Rotate so that the axis of rotation coincides with one of the
coordinate axis.
3 Perform the specified rotation about the coordinate axis.
4 Apply inverse rotation to bring the rotation axis back to the original
coordinates.
5 Apply inverse translation to bring rotation axis back to its original
position.

3D Concepts 3D Transformations 3D Viewing Viewing Pipeline Viewing Coordinates Projections
3D Viewing
2D viewing
I Transfer positions from the world-coordiante plane to pixel positions
in the viewport of the output device
I Clipping boundaries - the four boundaries of the world coordinate
system
3D viewing
I It is more involved
I We can view an object from any spatial position: from front, from
above, from back, from within, ...
I 3D descriptions of objects must be projected onto the flat viewing
surface of the output device
I Clipping boundaries - a volume of space whose shape depends on the
type of projection

Viewing Pipeline
The steps for computer generation of a view of a 3D scene are
somewhat analogous to the process involved in taking a photograph.
To take a snapshot:
1 Position the camera in space
2 Point the camera at the scene
3 Decide the camera orientation
4 On snapping the shutter,
The scene is cropped to the size of the aperture of the camera
Light from the visible surfaces is projected onto the camera film

The Camera Analogy

Steps taking a photograph with a camera (or a computer) might be
the following:
1 Set up your tripod and point the camera at the scene (viewing
transformation)
2 Arrange the scene to be photographed into the desired composition
(modelling transformation)
3 Choose a camera lens or adjust the zoom (projection transformation)
4 Determine how large you want the final photograph to be (viewport
transformation).

Cont’

Cont’
General 3D transformation pipeline, from modeling coordiantes to final
device coordinates.

Specifying the view plane

We choose a particular view for a scene by first establishing the
viewing-coordinate system as in the fig below.
A view plane, or projection plane, is then set up perpendicular to the
viewing zv axis.

Establising the viewing coordinate system

Pick a world coordinate position - view reference point - origin of the
viewing coordinate system
Select a positive direction for the viewing zv axis by specifying the
view plane normal vector, N
Choose the up direction for the view by specifying a vector V called
the view-up vector

Different views of scene

keep the reference point fixed and change the direction of N.
Viewing a scene from different directions with a fixed view reference

ponit

Viewing Transformation
Before object descriptions can be projected to the view plane, they
must be transferred to viewing coordinates
Transformation that superimposes the viewing reference frame onto
the world frame using the basic geometric transformations
1 Translate the view reference point to the origin of the
world-coordinate system
2 Apply rotations to align the xv , yv , and zv axes with the world xw ,
yw , and zw axes respectively

Projections
Our eyes collapse 3-D world to 2-D retinal image
In this Computer graphics, this process is done with projection
Once world-coordianate descriptions of the objects in a scene are
converted to viewing coordinates, we can project the 3D objects on
to the 2D view plane
Projection types
1 Parallel projection - coordinate positions are transformed to the
view plane along parallel lines
2 Perspective projection - coordinate positions are transformed to
the view plane along lines that converge to a point called the
projection reference point
I The projected view of an object is determined by calculating the
intersection of the projection lines with the view plane

Parallel and Perspective Projection
Perspective projection of an object

Parallel projection of an object to to the view plane
the view plane

Parallel Projections
Preserve relative proportions of objects
Used in drafting to produce scale drawings of 3D objects
Don’t give us realistic representations of the appearance of 3D
objects
Specified with a projection vector that defines the direction of the
projection lines
Types of parallel projection

1 Orthographic projection - projection is perpendicular to the view
plane
2 Oblique projection - projection is not perpendicular to the view
plane
# OpenGL provides only orthographic projection

Orthographic projection
Transform points along projection lines that
I are parallel
I have the focal point at infinity
I are orthogonal to the view plane
Camera analogy - telephoto lens

Projection Equations
If the view plane is placed at position zvp along the zv axis, any
point (x, y , z) in viewing coordinates is transformed to projection
coordinates as
I xp = x
I yp = y
I zp = zvp
The original z-coordinate value is preserved for depth information
needed in
I depth cueing
I visible surface determination procedures

Cont’
The projection matrix for orthographic

projection on to the xv yv plane can be
written as
 
1 0 0 0
0 1 0 0
Mparallel = 
0 0 0 0

Orthographic projection of a 0 0 0 1
point onto a viewing plane

Perspective Projections
Don’t preserve relative proportions of objects
Produce realistic views
Projections of distant objects are smaller than projections of objects
of the same size that are closer to the projection plane
Transform points along projection lines that meet at the projection
reference point, zprp

Projection Equations
1 Projection reference point - zprp along the zv axis
2 View plane - zvp
3 A point (x, y , z) is projected to the point (xp , yp , zp )
Perspective projection of a point P with coordinates (x, y, z) to position

(xp , yp , zp ) on the view plane.

Top view and side view

Projection equations
Using similarity of triangles in both the views, we obtain
x(d)
1 xp = zprp −z
y (d)
2 yp = zprp −z
3 zp =zvp
The perspective projection matrix can be written as follows
 
1 0 0 0
0 1 0 0 
−zvp zprp 
 
Mperspective = 
0 0 d zvp ( d )
 
−1 zprp
0 0 d d

Perspective division
Applying the perspective projection matrix on a point (x, y , z)
results in new point (xh , yh , zh )
zprp −z
Dividing the point (xh , yh , zh ) by h= d results in the projected
point (xp , yp , zp )
The original z-coordinate value is retained in projection coordinates
for visible surface and other depth processing

View Volume
Given a view window - a view volume can be set up using the
boundaries of the view window
Size of view volume - depends on the size of the window
Shape of view volume - depends on the type of projection
1 parallel projection - an infinite parallelpiped
2 perspective projection - pyramid with apex at the projection reference
point

Finite view volume

Obtained by limiting the extent of the volume in the zvp direction -
using two additional boundary planes
Front plane and back plane (near plane and far plane)
Parallel to the view plane at the specified positions zfront and zback
I Orthographic projection - rectangular parallelepiped
I Perspective projection - frustum

Parallelepiped view volume VS Frustum view volume

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3D Concepts 3D Transformations 3D Viewing

Chapter 3 - 3D Transformation and Viewing

May 28, 2017

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 1 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 2 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 3 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 4 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 5 / 38

Some ways to include depth info.

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 6 / 38

Visible Line and Surface Identification

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 7 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 8 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 9 / 38

Parameters tx , ty , and tz specify translation distances.

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 10 / 38

Preserve original shape if sx =sy =sz

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 11 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 12 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 13 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 14 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 15 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 16 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 17 / 38

The Camera Analogy

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 18 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 19 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 20 / 38

Specifying the view plane

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 21 / 38

Establising the viewing coordinate system

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 22 / 38

Different views of scene

Viewing a scene from different directions with a fixed view reference

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 23 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 24 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 25 / 38

Parallel and Perspective Projection

Perspective projection of an object

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 26 / 38

Types of parallel projection

# OpenGL provides only orthographic projection

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 27 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 28 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 29 / 38

The projection matrix for orthographic

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 30 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 31 / 38

Perspective projection of a point P with coordinates (x, y, z) to position

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 32 / 38

Top view and side view

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 33 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 34 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 35 / 38

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 36 / 38

Finite view volume

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 37 / 38

Parallelepiped view volume VS Frustum view volume

Tesfamicael.W Arefaine 3D Transformation and Viewing May 28, 2017 38 / 38

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