Visión por Computador

3D Transformations

Domingo Mery

Departmento de Ciencia de la Computación

Escuela de Ingeniería
Universidad Católica de Chile
[ 3D Transformation ]

Z
M M = [ X Y Z 1 ]T

X
[ 3D Transformation ]

Z
Z'
M M = [ X Y Z 1 ]T
M’ = [ X’ Y’ Z’ 1 ]T

Y'

X'
X
[ 3D Transformation ]

Z'
M
Z Y
Z Y'

t
Y
X
X'
X

t=(tX, tY, tZ): Translation

ωX, ωY, ωZ: Rotation
[ 3D Transformation ]

3D Translation: Z'

M
Z
(X',Y',Z')

Y'
t
Y
X'
X

 X  1 0 0 t x   X '
 X   X 't x   Y  0
 Y    Y 't    1 0 t y   Y ' 
   y 
 Z  0 0 1 tz  Z '
 Z   Z 't z      
 1  0 0 0 1  1 
[ 3D Transformation ]

3D Rotation:

Z'
M
Z
Y
Z Y'

X Y

X'
X
[ 3D Transformation ]

Axis Z Rotation:
Y'
Y
X

Z
. X’
Z' Z
[ 3D Transformation ]

Axis Y Rotation:
X'
X
Z

Y
. Z'
Y' Y
[ 3D Transformation ]

Axis X Rotation :
Z'
Z
Y

X
. Y'
X' X
[ 3D Transformation ]

Y' X' Z'

Y X Z
X Z Y

Z Y X
. X’ . Z' . Y'
Z' Z Y' Y X' X
[ 3D Transformation ]
[ 3D Transformation ]
[ Example: Pyramid ]