Three Dimensional

Viewing
Dr. S.M. Malaek
Assistant: M. Younesi
 3D Viewing
„ The steps for computer generation of a
view of a three dimensional scene are
somewhat analogous to the processes
involved in taking a photograph.
 Camera Analogy
1. Viewing position
2. Camera orientation
3. Size of clipping window
Orientation

Window (aperture)
of the camera

Position
 Viewing Pipeline
„ The general processing steps for modeling and
converting a world coordinate description of a scene to
device coordinates:
 Viewing Pipeline
1. Construct the shape of individual objects in a scene
within modeling coordinate, and place the objects into
appropriate positions within the scene (world
coordinate).
 Viewing Pipeline
2. World coordinate positions are converted to viewing
coordinates.
 Viewing Pipeline
3. Convert the viewing coordinate description of the
scene to coordinate positions on the projection plane.
 Viewing Pipeline
4. Positions on the projection plane, will then mapped to
the Normalized coordinate and output device.
Viewing Coordinates
„ Viewing coordinates
system described 3D
objects with respect to a
viewer.

„ A Viewing (Projector)
plane is set up
perpendicular to zv and
aligned with (xv,yv).
Camera Analogy
 Specifying the Viewing Coordinate
System (View Reference Point)
„ We first pick a world coordinate position called view
reference point (origin of our viewing coordinate system).
„ P0 is a point where a camera is located.
„ The view reference point is often chosen to be close to or on
the surface of some object, or at the center of a group of
objects. y w

zw
P 0
x
w

Position
 Specifying the Viewing Coordinate
System (Zv Axis)
„ Next, we select the positive direction for the viewing zv axis,
by specifying the view plane normal vector, N.
„ The direction of N, is from the look at point (L) to the view
reference point.

Look
Vector
 Specifying the Viewing Coordinate
System (yv Axis)
„ Finally, we choose the up direction for the view by
specifying a vector V, called the view up vector.
„ This vector is used to establish the positive direction for the
yv axis.
„ V is projected into a plane that is perpendicular to the normal
vector.

Up Vector
„
Look and Up Vectors
‰ the direction the camera is pointing
‰ three degrees of freedom; can be any vector in 3-space
„
‰ determines how the camera is rotated around the Look
vector
‰ for example, whether you’re holding the camera
horizontally or vertically (or in between)
‰ projection of Up vector must be in the plane perpendicular
to the look vector (this allows Up vector to be specified at
an arbitrary angle to its Look vector)
Projection
of up Up vector
vector Look vector

Position
 Specifying the Viewing Coordinate
System (xv Axis)
„ Using vectors N and V, the graphics package computer can
compute a third vector U, perpendicular to both N and V,
to define the direction for the xv axis.

P0
P0
 The View Plane
„ Graphics package allow users to choose the
position of the view plane along the zv axis by
specifying the view plane distance from the
viewing origin.

„ The view plane is always parallel to the xvyv plane.

 Obtain a Series of View
„ To obtain a series of view of a scene, we can
keep the view reference point fixed and
change the direction of N.
 Simulate Camera Motion
„ To simulate camera motion through a scene, we
can keep N fixed and move the view reference
point around.
Transformation from
World to Viewing
Coordinates
 Viewing Pipeline
„ Before object description can be projected to the view
plane, they must be transferred to viewing coordinates.
„ World coordinate positions are converted to viewing
coordinates.
 Transformation from World to
Viewing Coordinates
„ Transformation sequence from world to viewing
coordinates:

M WC ,VC
= R ⋅ R ⋅ R ⋅T
z y z
 Transformation from World to
Viewing Coordinates
„ Another Method for generating the rotation-
transformation matrix is to calculate unit uvn vectors
and form the composite rotation matrix directly:

n=
N
= (n1 , n2 , n3 ) ⎡u1 u2 u3 0⎤
N ⎢v v2 v3 ⎥
0⎥
u=
V×N
= (u1 , u 2 , u 3 ) R=⎢ 1
V×N ⎢n1 n2 n3 0⎥
v = n × u = (v1 , v 2 , v3 )
⎢ ⎥
⎣0 0 0 1⎦

M WC ,VC = R ⋅ T
Projection
 Viewing Pipeline
„ Convert the viewing coordinate description of the scene to
coordinate positions on the projection plane.
„ Viewing 3D objects on a 2D display requires a mapping
from 3D to 2D.
 Projection
„ Projection can be defined as a mapping of point
P(x,y,z) onto its image P ′( x ′, y ′, z ′) in the projection
plane.

„ The mapping is determined by a projector that

passes through P and intersects the view plane ( P ′ ).
 Projection
„ Projectors are lines from center (reference) of
projection through each point in the object.
„ The result of projecting an object is dependent
on the spatial relationship among the projectors
and the view plane.
 Projection

Parallel Projection : Perspective Projection:

Coordinate position are Object positions are
transformed to the view plane transformed to the view plane
along parallel lines. along lines that converge to
the projection reference
(center) point.
 Parallel Projection
„ Coordinate position are transformed to the view plane along
parallel lines.
„ Center of projection at infinity results with a parallel
projection.
„ A parallel projection preserves relative proportion of objects,
but dose not give us a realistic representation of the appearance
of object.
 Perspective Projection
„ Object positions are transformed to the view plane
along lines that converge to the projection reference
(center) point.
„ Produces realistic views but does not preserve relative
proportion of objects.
 Perspective Projection
„ Projections of distant objects are smaller
than the projections of objects of the same
size are closer to the projection plane.
Parallel and Perspective Projection
Parallel Projection
 Parallel Projection
„ Projection vector: Defines the direction for the projection
lines (projectors).
„ Orthographic Projection: Projectors (projection vectors)
are perpendicular to the projection plane.
„ Oblique Projection: Projectors (projection vectors) are
not perpendicular to the projection plane.
 Orthographic
Parallel Projection
 Orthographic Parallel Projection
„ Orthographic projection used to produce
the front, side, and top views of an object.
 Orthographic Parallel Projection
„ Front, side, and rear orthographic projections of an object
are called elevations.
„ Top orthographic projection is called a plan view.
Orthographic Parallel Projection
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Multi View Orthographic

 Orthographic Parallel Projection
„ Axonometric orthographic projections
display more than one face of an object.
 Orthographic Parallel Projection
„ Isometric Projection: Projection plane intersects each
coordinate axis in which the object is defined (principal axes)
at the same distant from the origin.
„ Projection vector makes equal angles with all of the three
principal axes.

Isometric projection is obtained by aligning the projection vector with

the cube diagonal.
 Orthographic Parallel Projection
„ Dimetric Projection: Projection
vector makes equal angles with
exactly two of the principal axes.
 Orthographic Parallel Projection
„ Trimetric Projection: Projection
vector makes unequal angles with
the three principal axes.
Orthographic Parallel Projection
Orthographic Parallel
Projection
Transformation
 Orthographic Parallel Projection
Transformation
„ Convert the viewing coordinate description of the
scene to coordinate positions on the Orthographic
parallel projection plane.
 Orthographic Parallel Projection
Transformation
„ Since the view plane is placed at position zvp along the
zv axis. Then any point (x,y,z) in viewing coordinates
is transformed to projection coordinates as:

x p = x, yp = y

⎡1 0 0 0⎤
⎢0 1 0 0⎥
M =⎢ ⎥
⎢0 0 0 0⎥
Orthographic Parallel

⎢ ⎥
⎣0 0 0 1⎦
 Oblique
Parallel Projection
 Oblique Parallel Projection
„ Projection are not perpendicular to the viewing
plane.
„ Angles and lengths are preserved for faces parallel
the plane of projection.
„ Preserves 3D nature of an object.
 Oblique
Parallel Projection
Transformation
 Oblique Parallel Projection
Transformation
„ Convert the viewing coordinate description of the
scene to coordinate positions on the Oblique parallel
projection plane.
 Oblique Parallel Projection
„ Point (x,y,z) is projected to position (xp,yp) on the view plane.
„ Projector (oblique) from (x,y,z) to (xp,yp) makes an angle α
with the line (L) on the projection plane that joins (xp,yp) and
(x,y).
„ Line L is at an angle φ with the horizontal direction in the
projection plane.
 Oblique Parallel Projection
x p = x + L cos φ
y p = y + L sin φ
z
z L=
tan α = tan α
L
= zL1
x p = x + z ( L1 cos φ)
y p = y + z ( L1 sin φ)

L
⎡1 0 L1 cosφ 0⎤
⎢0 ⎥
1 L1 sin φ 0⎥
M Parallel = ⎢
⎢0 0 0 0⎥
⎢ ⎥
⎣0 0 0 1⎦
 Oblique Parallel Projection
Orthographic Projection:
L1 = 0
α = 90 o

x p = x, yp = y
L
⎡1 0 0 0⎤
⎢0 1 0 0 ⎥
M =⎢ ⎥
⎢0 0 0 0⎥
Orthographic Parallel

⎢ ⎥
⎣0 0 0 1⎦
 Oblique Parallel Projection
„ Angles, distances, and parallel
lines in the plane are projected
accurately.
 Cavalier Projection
Cavalier Projection:
φ = 30 o
and 45 o
tan α = 1
α = 45 o

„ Preserves lengths of lines perpendicular to the viewing plane.

„ 3D nature can be captured but shape seems distorted.
„ Can display a combination of front, and side, and top views.
 Cabinet Projection
Cabinet Projection:
φ = 30 o
and 45 o
tan α = 2
α ≈ 63.4 o

„ Lines perpendicular to the viewing plane project at ½ of their

length.
„ A more realistic view than the cavalier projection.
„ Can display a combination of front, and side, and top views.
 Cavalier & Cabinet Projection

Cavalier Cabinet
Perspective Projection
Perspective Projection
 Perspective Projection
„ In a perspective projection, the center of projection is
at a finite distance from the viewing plane.
„ Produces realistic views but does not preserve
relative proportion of objects
„ The size of a projection object is inversely
proportional to its distance from the viewing plane.
 Perspective Projection
„ Parallel lines that are not parallel to the viewing
plane, converge to a vanishing point.
„ A vanishing point is the projection of a point at
infinity.
 Vanishing Points
„ Each set of projected parallel lines will have a
separate vanishing points.
„ There are infinity many general vanishing points.
 Perspective Projection
„ The vanishing point for any set of lines that are parallel to
one of the principal axes of an object is referred to as a
principal vanishing point.
„ We control the number of principal vanishing points (one,
two, or three) with the orientation of the projection plane.
 Perspective Projection
„ The number of principal vanishing
points in a projection is determined by
the number of principal axes
intersecting the view plane.
Perspective Projection

One Point Perspective

(z-axis vanishing point)
 Perspective Projection

z x

Two Point Perspective

(z, and x-axis vanishing points)
Perspective Projection

Two Point Perspective

 Perspective Projection
y

x
x
z
z

Three Point Perspective

(z, x, and y-axis vanishing points)
Perspective Projection
Perspective Projection
Transformation
 Perspective Projection Transformation
„ Convert the viewing coordinate description of the
scene to coordinate positions on the perspective
projection plane.
 Perspective Projection Transformation
„ Suppose the projection reference point at
position zprp along the zv axis, and the view
plane at zvp.
x ′ = x − xu
y ′ = y − yu 0 ≤ u ≤1

z′ = z − (z − z prp
)u
 Perspective Projection Transformation
x ′ = x − xu
On the view plane: z ′ = z vp y ′ = y − yu
z −z z′ = z − (z − z )u
u=
prp
vp

z −z prp
d p = z prp − z vp
⎛z −z ⎞ ⎛ d ⎞
x = x⎜⎜ prp vp
⎟ = x⎜
⎟ ⎜z−z
p
⎟
⎟
⎝ z−z
p
prp ⎠ ⎝ prp ⎠
⎛z −z ⎞ ⎛ d ⎞
y = y⎜⎜ prp vp
⎟ = y⎜
⎟ ⎜z−z
p
⎟
⎟
⎝ z−z
p
prp ⎠ ⎝ prp ⎠
 Perspective Projection Transformation
On the view plane: z ′ = z vp ⎛z −z ⎞
⎜ ⎟
⎛ d ⎞
x = x⎜prp

⎟ = x⎜⎜
vp p
⎟
⎟
⎝ z−z ⎠ ⎝z−z
p
prp prp ⎠
⎡xh ⎤ ⎡1 0 0 0 ⎤ ⎡x⎤ ⎛z −z ⎞ ⎛ d ⎞
⎢y ⎥ ⎢0 ⎥⎢ ⎥ y = y⎜⎜ ⎟ = y⎜ ⎟
prp vp p

1 0 0 ⎟ ⎜ ⎟
⎝ z−z ⎠ ⎝z−z
p

⎠
⎢ h⎥ = ⎢ ⎥ ⋅ ⎢y⎥ prp prp

⎢zh ⎥ ⎢0 0 zvp dp − zvp(zprp dp )⎥ ⎢z⎥

⎢ ⎥ ⎢ ⎥⎢ ⎥
⎣ h ⎦ ⎢⎣0 0 1 dp − zprp dp ⎥⎦ ⎣1⎦

z − z prp
h=
dp
x p = xh h , y p = yh h
 Perspective Projection Transformation
Special Cases: z vp = 0 ⎛z −z
x = x⎜⎜
prp vp
⎞ ⎛ d
⎟ = x⎜ p
⎞
⎟
⎟ ⎜z−z ⎟
⎝ z−z
p
prp ⎠ ⎝ prp ⎠
⎛ z prp ⎞ ⎛ 1 ⎞ ⎛z −z ⎞ ⎛ d ⎞
x p = x⎜ ⎟ = x⎜ ⎟ y = y⎜⎜ ⎟ = y⎜ ⎟
prp vp p

⎜z−z ⎟ ⎜ z z −1⎟ ⎟ ⎜z−z ⎟

⎝ z−z
p

⎠ ⎝ ⎠
⎝ ⎠ ⎝ ⎠
prp prp
prp prp

⎛ z prp ⎞ ⎛ 1 ⎞
y p = y⎜ ⎟ = y⎜ ⎟
⎜z−z ⎟ ⎜ z z −1⎟
⎝ prp ⎠ ⎝ prp ⎠
 Perspective Projection Transformation
Special Cases: The projection ⎛z −z ⎞ ⎛ d ⎞
x = x⎜⎜
prp vp
⎟ = x⎜
⎟ ⎜z−z
p
⎟
⎟
⎝ z−z
p

reference point is at the viewing prp ⎠ ⎝ prp ⎠

coordinate origin: z prp = 0 ⎛z −z
y = y⎜⎜prp vp
⎞ ⎛ d
⎟ = y⎜ p
⎞
⎟
⎟ ⎜z−z ⎟
⎝ z−z
p
prp ⎠ ⎝ prp ⎠

⎛ − zvp ⎞ ⎛ − 1 ⎞
x p = x⎜⎜ ⎟⎟ = x⎜ ⎟
⎜ ⎟
⎝ z ⎠ ⎝ z zvp ⎠
⎛ − zvp ⎞ ⎛ − 1 ⎞
y p = y⎜⎜ ⎟⎟ = y⎜ ⎟
⎜ ⎟
⎝ z ⎠ ⎝ z zvp ⎠

Zprp=0
Summery
Summary