3D Concepts & Transformation
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Right Handed Coordinate System
+Y +Y
+Z
+X +X
+Z
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Viewing a 3D world
+Y
We have a model in this world
and would like to view it from a
new position.
+X
+Z
We’ll call this new position the
camera or eyepoint. Our job is to
figure out what the model looks
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like on the display plane.
Parallel Projection
+Y
+Z
+X
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Perspective Projection
+Y
+Z
+X
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What are some new things to
think about?
Hidden Surface Removal
Visibility
Depth Cueing
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How to make a 2D image appear as
3D!
• Output is typically 2D Images
• Yet we want to show a 3D world!
• How can we do this?
– We can include ‘cues’ in the image that give
our brain 3D information about the scene
– These cues are visual depth cues
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Visual Depth Cues
• Monoscopic Depth Cues (single 2D image)
• Stereoscopic Depth Cues (two 2D images)
• Motion Depth Cues (series of 2D images)
• Physiological Depth Cues (body cues)
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Monoscopic Depth Cues
• Interposition
– An object that obstructs another is closer
• Shading
– Shape info. Shadows are included here
• Size
– Usually, the larger object is closer
• Linear Perspective
– parallel lines converge at a single point
• Surface Texture Gradient
– more detail for closer objects
• Height in the visual field
– Higher the object is (vertically), the further it
is
• Atmospheric effects
– further away objects are blurrier
• Brightness
– further away objects are dimmer
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3D Transformations
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3D Transformations
• Remembering 2D transformations -> 3x3
matrices
T=(tx, ty, tz)
1 0 t x
x x
T t x , t y 0 1 t y
t
y t y 0 0 1
1 0 0 t x
x
x t
T t x , t y , t z y t y
0 1 0 t y
0 0 1 t z
z t z
0 0 0 1 11
Scale, 3D Style
sx 0 0
sx 0 x S=(sx, sy, sz)
S s x , s y 0 0
s y y
* sy
0 0 0 1
sx 0 0 0
sx 0 x
0
0
S s x , s y , s z 0 0 * y
0 sy 0
sy
0 0 sz 0
0 0
sz z
0 0 0 1
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Rotation
What does a rotation in 3D mean? R=(rx, ry, rz, )
Q: How do we specify a rotation?
A: We give a vector to
rotate about, and a theta
that describes how much
we rotate.
Q: Since 2D is sort of like a
special case of 3D, what is
the vector we’ve been
rotating about in 2D? 13
Rotations about the Z axis
What do you think the rotation matrix is for
rotations about the z axis?
R=(0,0,1,)
cos sin 0
cos sin
R sin cos 0
sin cos
0 0 1
cos sin 0 0
sin cos 0 0
R (0,0,1, )
0 0 1 0
0 0 0 1
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Rotations about the X axis
Let’s look at the other axis rotations
R=(1,0,0,)
1 0 0 0
0 cos sin 0
R (1,0,0, )
0 sin cos 0
0 0 0 1
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Rotations about the Y axis
R=(0,1,0,)
cos 0 sin 0
0 1 0 0
R ( 0,1,0, )
sin 0 cos 0
0 0 0 1
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Rotations for an arbitrary axis
1 0 0 0
0 cos sin 0
R (1,0,0, )
0 sin cos 0
0 0 0 1
cos 0 sin 0
0 1 0 0
R ( 0,1,0, )
sin 0 cos 0
0 0 0 1
cos sin 0 0
sin cos 0 0
R ( 0,0,1, )
0 0 1 0
0 0 0 1 17
Rotations for an arbitrary axis
R R x 1 R y 1 R z R y R x
u
Steps:
1. Normalize vector u
2. Compute
3. Compute
4. Create rotation matrix
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Transformation in OpenGL
• glTranslate*()
Ex. glTranslatef(-20.0, 0.0, 0.0);
• glRotate*()
Ex. glRotatef (90.0, 0.0, 0.0, 1.0);
• glScale*()
Ex. glScalef(1.5, 0.5, 1.0);
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3D Viewing
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The Question
• Given a 3D point, an eye position, a camera
position, and a display plane, what is the
resulting pixel position?
• Now extend this for a group of three points
• Then apply what you know about scan
conversion.
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Different Phases:
Model Definition
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Different Phases:
Transformations
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Different Phases:
Projection
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Different Phases:
Projection
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Different Phases:
Rasterization
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Different Phases:
Scan Conversion
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Graphics Pipeline So Far
Object Transformation
Object Coordinates Object -> World
World Projection Xform
World Coordinates World -> Projection
Camera Normalize Xform & Clipping
Projection Coordinates Projection -> Normalized
Viewport Viewport Transform
Normalized Coordinates Normalized -> Device
Screen
Device Coordinates 28
Projections
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Projections: Left-handed Screen
Coordinates
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Parallel Projections: Orthographic or
Isometric Projection
VP' PParallelMV
1 0 0 0
0 1 0 0
PParallel( Orthographic )
0 0 0 0
0 0 0 1
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Parallel Projection
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Parallel Projections: Oblique Projection
Let
[xp, yp,zp] - the direction of projection
(x,y,z) - a point on the object
(x’,y’,z’) – a point of the projection result
Then: (parametric equation) 0 xp / zp 0
1
x’ = x + xp.u 0 1 yp / zp 0
y’ = y + yp.u Ppara lell( obliq ue)
0 0 0 0
z’ = z + zp.u for some 0<=u<=1
0 0 0 1
If the view plane is the xy-plane, then z’ = 0
Substituting: x’ = x – (xp/zp).z
y’ = y – (yp/zp).z
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Parallel Projections: Oblique Projection
(xp,yp,zvp)
L
ǿ(
(x,y,zvp)
VP' PParallelMVVC
L1 tan 1
1 0 L1 cos 0
0 1 L1 sin 0
PParallel( Oblique)
0 0 0 0
0 0 0 34 1
Parallel Projections: Oblique Projection
L
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Perspective Projections
foreshortening - the
farther an object is from
the camera , the smaller it
appears in the final image
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Perspective Projection
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Perspective Projection
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Perspective Projection Side View
P=(xp,yp,zp) t=0 P’=(x’,y’,z’) t=?
C=(xc,yc,zc) t=1
xp
x’
z’
zp
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Perspective Projection
Let
(xc ,yc , zc] - the center of projection (reference point)
(x ,y ,z) - a point on the object
(x’,y’,z’) – a point on the projection view plane
Then: parametric equation 1 0 x / z c c 0
x’ = xc + (x - xc).u 0 1 y / z 0
y’ = yc + (y - yc).u
c c
P
0 0 0
p ersp ective
z’ = zc + (z - zc).u for some 0<=u<=1 0
0 0 1 / zc 1
If the view plane is the xy-plane, then z’ = 0
Substituting: x’ = (- zc x + xc z) /(z – zc)
y’ = (- zc y + yc z)/(z – zc)
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Perspective Projection View Volume
•a pyramid of vision - it approximates the cone of vision
of our eyes or a camera
•a view volume that is an infinite rectangular pyramid
with its apex at the center of projection
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Perspective Projection Side View
P=(xp,yp,zp) t=0 P’=(x’,y’,z’) t=?
C=(xc,yc,zc) t=1
xp
x’
z’
zp
x' xp
z' z p
x' x p
z'
xp
x ' 1 0 0 0 x
y ' 0
p
y' yp z w 1 0 0 y
p
p
z z' yp
z' z p w p ; y' y p z ' 0 0 1 0 z
0 p
z' zp w 1
0 0 421
z'
w
z' z'
z ' z p
zp
z'
Perspective Projection Side View
P=(xp,yp,zp) t=0 P’=(x’,y’,z’) t=?
C=(xc,yc,zc) t=1
xp h
x’
z’
zp
z' xp z' z'
x' x p x' x p xp
z p w zp hz p
z z' yp z' z'
w p ; y' y p w z p y' y p yp
z' zp w Scale by h zp hz p
z' fz p z' f
z ' z z '
f z ' 43f z'
p
zp
Perspective Divide
z' z' z'
x' x p xp 0 0 0
zp hz p x ' hhoriztonal xp
z' z' y ' z' y p
w z p y' y p yp 0 hvertical
0 0
zp hz p z' z
0 far near * far p
fz p w
0
z '
z' f
far near far near 1
f z' f z' 0 0 1 0
Foreshortening - look at the x,y, and w values, and how they depend on how far
away the object is.
Modelview Matrix - describes how to move the world->camera coordinate
system
Perspective Matrix - describes the camera you are viewing the world with.
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Perspective Matrix
Note: Normalized Device Coordinates are a
LEFT-HANDED Coordinate system
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Projection in OpenGL
• glOrtho(GLdouble left, GLdouble right,
GLdouble bottom, GLdouble top, GLdouble
near, GLdouble far);
• gluPerspective(GLdouble theta, GLdouble
aspect, GLdouble near, GLdouble far);
• glFrustum(GLdouble left, GLdouble right,
GLdouble bottom, GLdouble top, GLdouble
near, GLdouble far); 46
Visible Surface Determination
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Goal of Visible Surface
Determination
To draw only the surfaces (triangles) that are visible, given a
view point and a view direction
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Multiple Objects
• If we want to draw: We can sort in z.
Sorting may
become slow
Called Painter’s
Algorithm or
splatting.
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Painter’s (Depth-Sorting) Algorithm
• Triangle’s representative z value
– Minimum z
– Maximum z
– Polygon’s centroid
• Work cost = sort + draw
• An object space visibility algorithm
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Painter’s Algorithm
• Pros: • Cons:
– No extra memory – Precision issues (and
– Relatively fast additional work to
– Easy to understand and handle them)
implement – Sort stage
– Intersecting objects
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Depth Buffer Algorithm
• A memory to store the depth value for each
pixel
• Begin frame
– Clear color
– Clear depth to z = zmax
• Draw Triangles
– When scan converting znew pixel < zvalue at the pixel, set
color and zvalue at the pixel = znew pixel
– What does it mean if znew pixel > zvalue at the pixel?
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Depth Buffer Algorithm
• Pros: • Cons:
– Easy to understand and – Z precision
implement – additional memory
– per pixel “correct” – Z fighting
answer
– no preprocess
– draw objects in any
order
– no need to redivide
objects
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