3D Transformations

3D Translation

Point in 3D given by (X1 Y1 Z1)

Translated by (dx dy dz)

X2 = X1 + dx
Y2 = Y1 + dy
Z2 = Z1 + dz
 Translation

In matrix form

 X 2  1 0 0 dx   X 1 
 Y  0 1 0 dy   Y1 
 2=
 Z 2  0 0 1 dz   Z1 
    
 1  0 0 0 1  1 

Inverse Transformation

1 0 0 dx  1 0 0 − dx 
0 1 0 dy  0 1 0 − dy 
T= T −1 = 
0 0 1 dz  0 0 1 − dz 
   
0 0 0 1 0 0 0 1 

T T-1 = I
Scaling

Point in 3D given by (X1 Y1 Z1)

Scaled by (Sx Sy Sz)

X2 = X1 * Sx
Y2 = Y1 * Sy
Z2 = Z1 * Sz

Scaling

In matrix form

 X 2   Sx 0 0 0  X 1 
 Y   0 Sy 0 0  Y 
 2=  1 
 Z 2   0 0 Sz 0  Z1 
    
 1   0 0 0 1  1 

S
 Inverse Transformation

1 
 Sx 0 0 0  Sx 0 0 0
 0 Sy 0 0  1 
S=  0
S −1 = 
0 0
 0 0 Sz 0 Sy 
   1 
 0 0 0 1  0 0 0
0 Sz
 0 0 1

S S-1 = I

Shearing

What will these do?
1 e 0 0 1 0 e 0 1 d e 0 1 d 0 0
0 1 0 0 0 1 0 0 0 1 0 0  e 1 0 0
      
0 0 1 0 0 0 1 0 0 0 1 0  0 0 1 0
      
0 0 0 1 0 0 0 1 0 0 0 1  0 0 0 1
 3D Rotation
Y

Rotation about Z-axis (x2 y2 z2)

Z-coordinate will not
change

Z’ = Z (x1 y1 z1)
θ

If we ignore the Z-
coordinate, it is 2-D
transformation in XY X
plane
 X ' cosθ − sin θ 0 0  X 
 Y '   sin θ cosθ 0 0  Y  Z
 =  
 Z '  0 0 1 0  Z 
    
1  0 0 0 1  1 

Rotation
Y

Positive rotation is (x2 y2 z2)

counterclockwise
when looking (x1 y1 z1)
down the axis of θ

rotation towards
origin X

Z
 Rotation about Principal Axes

Right hand rule

XYZ is a right
handed system if:

Place your right
wrist at the origin,
curl your fingers
from X to Y, thumb
should point along
+ve Z

Rotation about Principal Axes

Y Rotation about Z z Rotation about X x Rotation about Y

X y z

Z x y
X ' = X cosθ − Y sin θ Y ' = Y cosθ − Z sin θ Z ' = Z cosθ − X sin θ
Y ' = X sin θ + Y cosθ Z ' = Y sin θ + Z cosθ X ' = Z sin θ + X cosθ
Z'= Z X '= X Y'= Y
 Rotation about Principal Axes
X ' = X cosθ − Y sin θ Y ' = Y cosθ − Z sin θ Z ' = Z cosθ − X sin θ
Y ' = X sin θ + Y cosθ Z ' = Y sin θ + Z cosθ X ' = Z sin θ + X cosθ
Z'= Z X '= X Y'= Y
Rotation about Z Rotation about X Rotation about Y
cosθ − sin θ 0 0 1 0 0 0  cos β 0 sin β 0
 sin θ cosθ 0 0 0 cos γ − sin γ 0  0 1 0 0
  
 0 0 1 0 0 sin γ cos γ 0 − sin β 0 cos β 0
     
 0 0 0 1 0 0 0 1  0 0 0 1

Concatenation of Rotations

Rotation around X by γ followed by
rotation around Y by β followed by
rotation around Z by α

R = RαZ RβY RγX

 Small Angle Approximation

Small angle approximation

Properties of Rotation Matrix

Rotation Matrices are orthonormal
i.e. R R T = R TR = I [Proof?]

3D rigid motion can be described by a
rotation and translation

 X '  r11 r12 r13   X  Tx 

 Y '  = r r22 r23   Y  + Ty 
   21
 Z '   r31 r32 r33   Z  Tz 
Properties of Rotation Matrix
 r11 r12 r13 
R = r21 r22 r23 
r31 r32 r33 

R has 9 unknowns, but orthonormality
provides 6 constraints
3 3
0 i ≠ k
∑ r r
ij kj = ∑ r r
ji jk = 
j =1 j =1 1 i = k

Hence the number of degrees of freedom of a
3D rotation are 9 – 6 = 3

Properties of Rotation Matrices

Any concatenation of rotation matrices
also forms a rotation matrix i.e. the
matrix remains orthonormal [Proof?]
Properties of Rotation Matrices

A rotation matrix transforms its own
rows onto the principal axes
 r11 r12 r13   r11  1  r11 r12 r13   r21  0
r r r23  r12  = 0?  r r r23  r22  = 1
 21 22      21 22    
 r31 r32 r33   r13  0  r31 r32 r33   r23  0
 r11 r12 r13   r31  0
r r r23  r32  = 0
 21 22    
 r31 r32 r33   r33  1

Rotation about Arbitrary Axis

Any complex rotation can be described
by a single rotation around an axis n by
an angle θ [Proof?]

Therefore, any complex rotation can be
described by [n1, n2, n3]T and θ

Still 3 degrees of freedom as n can be
taken to be a unit vector without any
loss of generality
n12 + n22 + n32 = 1
Rotation about Arbitrary Axis

To rotate about an axis n by an angle
θ
1. Set up rotations such that n rotates
onto one of the principal axis [How?]
2. Rotate about that axis by θ
3. Undo the transformations in step 1

Rotation about Arbitrary Axis

Question: Given an arbitrary 3D rotation
matrix, how can we find out the axis n and
the angle θ that represents this rotation?

 - 0.8256 0.40388 - 0.39404 Given R on the left, how

- 0.20084 - 0.86294 - 0.46367 can we tell n and θ?
 
 - 0.5273 - 0.30367 0.79356 
Eigenvectors and Values of a
Rotation Matrix

3D rotation matrix has eigenvalues of 1,
cosθ + i sinθ and cosθ -i sinθ [Proof?]

The eigenvector associated with the
real eigenvalue represents the axis of
rotation [proof?]

Rodrigues’ Formula

Alternate description of a rotation matrix

Assume we want to rotate a vector v about n
by angle θ so that v transforms to v’

n
v'

v
Rodrigues’ Formula

v can be decomposed into two components,
v|| and v⊥

v|| is the component of v parallel to n

v⊥is the component of v perpendicular to n

n v'

n v'
Rodrigues’ Formula
v

v = v|| + v⊥ (Eq 1)

v|| = [projection of v on n]

v|| = (v.n)n

v⊥ from Eq 1

v⊥ = v - (v.n)n

1st component (v||) is invariant under rotation

2nd component (v⊥) will rotate to v’⊥
Rodrigues’ Formula

Claim:

v’⊥= v⊥cosθ + (n x v⊥) sinθ v'
n


n x v⊥
v’⊥
v

θ
n θ
out v⊥
of paper
v’⊥ = (v - (v.n)n) cosθ + n x (v - (v.n)n) sinθ

Rodrigues’ Formula

v’ = v’|| + v’⊥

v’ = (v.n)n +
(v - (v.n)n) cosθ + n x (v - (v.n)n) sinθ
v'
n

θ

v’ = (v.n)n + (v - (v.n)n) cosθ + n x (v - (v.n)n) sinθ

v’ = v cosθ + (n x v) sinθ + (1- cosθ) (v.n)n

v’ = v + (n x v) sinθ + (1- cosθ) (n x (n x v)) [show]
v'
n