Introduction to Computer Graphics

GAMES101, Lingqi Yan, UC Santa Barbara

Lecture 4:
Transformation Cont.

http://www.cs.ucsb.edu/~lingqi/teaching/games101.html
 Announcement

• Homework 0 will be released TODAY

• This lecture will be difficult :)

GAMES101 2 Lingqi Yan, UC Santa Barbara

 Last Lecture
• Transformation
- Why study transformation

- 2D transformations: rotation, scale, shear

- Homogeneous coordinates

- Composite transform

- 3D transformations

GAMES101 3 Lingqi Yan, UC Santa Barbara

 Today
• 3D transformations

• Viewing (观测) transformation

- View (视图) / Camera transformation

- Projection (投影) transformation

- Orthographic (正交) projection

- Perspective (透视) projection

GAMES101 4 Lingqi Yan, UC Santa Barbara

 3D Transformations

Use homogeneous coordinates again:

• 3D point = (x, y, z, 1)T
• 3D vector = (x, y, z, 0)T

Use 4×4 matrices

In general, (x, y, z,for
w)affine
(w != transformations
0) is the 3D point:
⇥ ⇥ ⇥
x (x/w,
a y/w,
b c z/w)
tx x
⇧y ⌃ ⇧d e f ty ⌃ ⇧y ⌃
⇧ ⌃ = ⇧ ⌃·⇧ ⌃
⇤z ⌅ ⇤g h i tz ⌅ ⇤ z ⌅
1 0 0 0 1 1

GAMES101
CS184/284A 5 Lingqi Yan, UC Santa
RenBarbara
Ng
 Use homogeneous coordinates again:
• 3D point = (x, y, z, 1)T
3D Transformations
• 3D vector = (x, y, z, 0)T
Use homogeneous coordinates again:
Use 4×4 matrices for affine transformations
• 3D point = (x, y, z, 1)T
⇥ ⇥ ⇥
• 3D vector ⇧ x
= (x,
y ⌃
y, z, a
0) T b c t x
⇧d e f ty ⌃ ⇧y ⌃
x
⇧ ⌃ = ⇧ ⌃·⇧ ⌃
⇤z ⌅ ⇤ g h i tz ⌅ ⇤ z ⌅
Use 4×4 matrices
1 for affine
0 0transformations
0 1 1
⇥ ⇥ ⇥
x a b c tx x
What’s the order?
⇧ ⌃ ⇧ ⌃ ⇧ ⌃
y d e f t y
Linear Transform
CS184/284A ⇧ ⌃
⇤z ⌅first
= or
⇧Translation first?
y ⌃·⇧ ⌃
⇤ g h i tz ⌅ ⇤ z ⌅
Ren Ng

1 0 0 0 1 1

GAMES101 6 Lingqi Yan, UC Santa Barbara

 3D Transformations
⇥
sx 0 0 0
Scale ⇧0 sy 0 0⌃
S(sx , sy , sz ) = ⇧
⇤0
⌃
0 sz 0⌅
0 0 0 1

Translation ⇥
1 0 0 tx
⇧0 1 0 ty ⌃
T(tx , ty , tz ) = ⇧
⇤0
⌃
0 1 tz ⌅
0 0 0 1

Coordinate Change
(Frame-to-world) 
u v w o
F(u, v, w, o) =
0 0 0 1

CS184/284A Ren Ng
GAMES101 7 Lingqi Yan, UC Santa Barbara
 3D Transformations

Rotation around x-, y-, or z-axis y

⇥ Rotation
1 0 0 0 around
⇧0 cos sin 0⌃ x-axis
Rx ( ) = ⇧
⇤0
⌃
sin cos 0⌅
x
0 0 0 1
⇥
cos 0 sin 0
⇧ 0 z
1 0 0⌃
Ry ( ) = ⇧
⇤ sin
⌃
0 cos 0⌅
0 0 0 1
⇥ Anything strange about Ry?
cos sin 0 0
⇧ sin cos 0 0⌃
Rz ( ) = ⇧
⇤ 0
⌃
0 1 0⌅
0 0 0 1
CS184/284A Ren Ng
GAMES101 8 Lingqi Yan, UC Santa Barbara
 3D Rotations

Compose any 3D rotation from Rx, Ry, Rz?

Rxyz ( , ⇥, ⇤) = Rx ( ) Ry (⇥) Rz (⇤)

• So-called Euler angles

• Often used in flight simulators: roll, pitch, yaw

CS184/284A Ren Ng
GAMES101 9 Lingqi Yan, UC Santa Barbara
 Rodrigues’ Rotation Formula

Rotation by angle α around axis n

0 1
0 nz ny
R(n, ↵) = cos(↵) I + (1 cos(↵)) nnT + sin(↵) @ nz 0 nx A
ny nx 0
| {z }
N

How to prove this magic formula?

• Check
Matrix N computes a cross-product: N
out the supplementary material on the course website!
x = n × x
• Assume orthonormal system e1, e2, n
Rn = n
Re1 = cos e1 + sin e2
Re2 = sin e1 + cos e2
CS184/284A Ren Ng
GAMES101 10 Lingqi Yan, UC Santa Barbara
 Today
• 3D transformations

• Viewing transformation
- View / Camera transformation

- Projection transformation

- Orthographic projection

- Perspective projection

GAMES101 11 Lingqi Yan, UC Santa Barbara

 View / Camera Transformation

• What is view transformation?

• Think about how to take a photo

- Find a good place and arrange people (model transformation)

- Find a good “angle” to put the camera (view transformation)

- Cheese! (projection transformation)

GAMES101 12 Lingqi Yan, UC Santa Barbara

 View / Camera Transformation

• How to perform view transformation?

• Define the camera first Up direction

- Position ~e
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- Look-at / gaze direction <latexit sha1_base64="JRmPpRc6+ziFmRSUNjVSJ5Dkido=">AAAB7nicbVDLSgNBEOz1GeMr6tHLYBA8hV0R9Bj04jGCeUCyhNnJbDJkdmaZ6RXCko/w4kERr36PN//GSbIHTSxoKKq66e6KUiks+v63t7a+sbm1Xdop7+7tHxxWjo5bVmeG8SbTUptORC2XQvEmCpS8kxpOk0jydjS+m/ntJ26s0OoRJykPEzpUIhaMopPavRHFfDjtV6p+zZ+DrJKgIFUo0OhXvnoDzbKEK2SSWtsN/BTDnBoUTPJpuZdZnlI2pkPedVTRhNswn587JedOGZBYG1cKyVz9PZHTxNpJErnOhOLILnsz8T+vm2F8E+ZCpRlyxRaL4kwS1GT2OxkIwxnKiSOUGeFuJWxEDWXoEiq7EILll1dJ67IW+LXg4apavy3iKMEpnMEFBHANdbiHBjSBwRie4RXevNR78d69j0XrmlfMnMAfeJ8/lmePuA==</latexit>

ĝ
- Up direction t̂ <latexit sha1_base64="qTVnGIGoy9VTmA6RVP920/L8OkE=">AAAB7nicbVDLSgNBEOz1GeMr6tHLYBA8hV0R9Bj04jGCeUCyhNnJbDJkdmaZ6RXCko/w4kERr36PN//GSbIHTSxoKKq66e6KUiks+v63t7a+sbm1Xdop7+7tHxxWjo5bVmeG8SbTUptORC2XQvEmCpS8kxpOk0jydjS+m/ntJ26s0OoRJykPEzpUIhaMopPavRHFHKf9StWv+XOQVRIUpAoFGv3KV2+gWZZwhUxSa7uBn2KYU4OCST4t9zLLU8rGdMi7jiqacBvm83On5NwpAxJr40ohmau/J3KaWDtJIteZUBzZZW8m/ud1M4xvwlyoNEOu2GJRnEmCmsx+JwNhOEM5cYQyI9ythI2ooQxdQmUXQrD88ippXdYCvxY8XFXrt0UcJTiFM7iAAK6hDvfQgCYwGMMzvMKbl3ov3rv3sWhd84qZE/gD7/MHqiiPxQ==</latexit>

Position
(assuming perp. to look-at) Loo
k-a
t di
rec
tion

GAMES101 13 Lingqi Yan, UC Santa Barbara

 View / Camera Transformation
• Key observation
- If the camera and all objects move together,
the “photo” will be the same
Y

==
(0, 0, 0) -Z
X

• How about that we always transform the camera to

- The origin, up at Y, look at -Z

- And transform the objects along with the camera

GAMES101 14 Lingqi Yan, UC Santa Barbara

 View / Camera Transformation

• Transform the camera by Mview <latexit sha1_base64="qUG8zMQxKJZhoh6+ZB/njTmSiQk=">AAAB73icbVBNS8NAEJ34WetX1aOXxSJ4KokIeix68SJUsB/QhrLZTtqlm03c3VRK6J/w4kERr/4db/4bt20O2vpg4PHeDDPzgkRwbVz321lZXVvf2CxsFbd3dvf2SweHDR2nimGdxSJWrYBqFFxi3XAjsJUopFEgsBkMb6Z+c4RK81g+mHGCfkT7koecUWOl1l03G3F8mnRLZbfizkCWiZeTMuSodUtfnV7M0gilYYJq3fbcxPgZVYYzgZNiJ9WYUDakfWxbKmmE2s9m907IqVV6JIyVLWnITP09kdFI63EU2M6ImoFe9Kbif147NeGVn3GZpAYlmy8KU0FMTKbPkx5XyIwYW0KZ4vZWwgZUUWZsREUbgrf48jJpnFc8t+LdX5Sr13kcBTiGEzgDDy6hCrdQgzowEPAMr/DmPDovzrvzMW9dcfKZI/gD5/MHWiWQKQ==</latexit>

- So it’s located at the origin, up at Y, look at -Z

t̂
•
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Mview in math? ~e
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<latexit

- Translates e to origin
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ĝ
- Rotates g to -Z
Y
- Rotates t to Y

- Rotates (g x t) To X

- Difficult to write! -Z
X

GAMES101 15 Lingqi Yan, UC Santa Barbara

 View / Camera Transformation
• Mview
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in math?
- Let’s write Mview = Rview Tview
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2 3
- Translate e to origin 1 0 0 xe
60 1 0 ye 7
Tview =6
40
7
0 1 ze 5
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0 0 0 1

- Rotate g to -Z, t to Y, (g x t) To X

- Consider its inverse rotation: X to (g x t), Y to t, Z to -g

2 3 WHY? 2 3
xĝ⇥t̂ xt x g 0 xĝ⇥t̂ yĝ⇥t̂ zĝ⇥t̂ 0
6 yĝ⇥t̂ yt y g 07 6 xt yt zt 07
1
Rview 6
=4 7 Rview = 4 6 7
zĝ⇥t̂ zt z g 0 5 x g y g z g 05
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0 0 0 1 0 0 0 1
GAMES101 16 Lingqi Yan, UC Santa Barbara
 View / Camera Transformation

• Summary
- Transform objects together with the camera

- Until camera’s at the origin, up at Y, look at -Z

• Also known as ModelView Transformation

• But why do we need this?

- For projection transformation!

GAMES101 17 Lingqi Yan, UC Santa Barbara

 Today
• 3D transformations

• Viewing transformation
- View / Camera transformation

- Projection transformation

- Orthographic projection

- Perspective projection

GAMES101 18 Lingqi Yan, UC Santa Barbara

 Projection Transformation
• Projection in Computer Graphics
- 3D to 2D

- Orthographic projection

- Perspective projection

Orthographic Perspective
projection projection

Fig. 7.1 from Fundamentals of Computer Graphics, 4th Edition

GAMES101 19 Lingqi Yan, UC Santa Barbara
 Projection Transformation
• Perspective projection vs. orthographic projection

https://stackoverflow.com/questions/36573283/from-perspective-picture-to-orthographic-picture
GAMES101 20 Lingqi Yan, UC Santa Barbara
 Orthographic Projection
• A simple way of understanding
- Camera located at origin, looking at -Z, up at Y (looks familiar?)

- Drop Z coordinate

- Translate and scale the resulting rectangle to [-1, 1]2

GAMES101 21 Lingqi Yan, UC Santa Barbara

 Orthographic Projection
• In general
- We want to map a cuboid [l, r] x [b, t] x [f, n] to
the “canonical (正则、规范、标准)” cube [-1, 1]3

t f
y y y

n Translate Scale
b x x
l r x

z z z

GAMES101 22 Lingqi Yan, UC Santa Barbara

 Orthographic Projection
• Slightly different orders (to the “simple way”)
- Center cuboid by translating

- Scale into “canonical” cube

t f
y y y

n Translate Scale
b x x
l r x

z z z

GAMES101 23 Lingqi Yan, UC Santa Barbara

 Orthographic Projection
• Transformation matrix?
- Translate (center to origin) first, then scale (length/width/height to 2)
2 2 32 r+l
3
r l 0 0 0 1 0 0 2
6 0 2
0 07 60 1 0 t+b 7
Mortho =6
4 0
t b 76 2 7
0 2
n f 05 40 0 1 n+f 5
2
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0 0 0 1 0 0 0 1
t f
y y y

n Translate Scale
b x x
l r x

z z z

GAMES101 24 Lingqi Yan, UC Santa Barbara

 Orthographic Projection
• Caveat
- Looking at / along -Z is making near and far not intuitive (n > f)

- FYI: that’s why OpenGL (a Graphics API) uses left hand coords.

t f
y y y

n Translate Scale
b x x
l r x

z z z

GAMES101 25 Lingqi Yan, UC Santa Barbara

 Perspective Projection
• Most common in Computer Graphics, art, visual system

• Further objects are smaller

• Parallel lines not parallel; converge to single point

Image A
Plane Plane, or
of Pro
jection
A’

B
B’

Center of projection
(camera/eye location)

GAMES101 26 Lingqi Yan, UC Santa Barbara

 Perspective Projection
• Euclid was wrong??!!

https://en.wikipedia.org/wiki/Parallel_(geometry)

GAMES101 27 Lingqi Yan, UC Santa Barbara

 Perspective Projection
• Before we move on

• Recall: property of homogeneous coordinates

- (x, y, z, 1), (kx, ky, kz, k != 0), (xz, yz, z2, z != 0) all represent
the same point (x, y, z) in 3D

- e.g. (1, 0, 0, 1) and (2, 0, 0, 2) both represent (1, 0, 0)

• Simple, but useful

GAMES101 28 Lingqi Yan, UC Santa Barbara

 Perspective Projection
• How to do perspective projection
- First “squish” the frustum into a cuboid (n -> n, f -> f) (Mpersp->ortho)

- Do orthographic projection (Mortho, already known!)

Frustum Cuboid

n f n f

Fig. 7.13 from Fundamentals of Computer Graphics, 4th Edition

GAMES101 29 Lingqi Yan, UC Santa Barbara

 Perspective Projection
• In order to find a transformation
- Recall the key idea: Find the relationship between transformed
points (x’, y’, z’) and the original points (x, y, z)

Y (x, y, z)

(x’, y’, z’) similar

triangle
n 0
Z y = y
z
n
<latexit sha1_base64="gYCqVp7QCzxySMpbJ4utMPl9GkQ=">AAAB+HicbVBNS8NAEJ3Ur1o/GvXoZbGInkoigl6EohePFewHtKFstpt26WYTdjdCGvJLvHhQxKs/xZv/xm2bg7Y+GHi8N8PMPD/mTGnH+bZKa+sbm1vl7crO7t5+1T44bKsokYS2SMQj2fWxopwJ2tJMc9qNJcWhz2nHn9zN/M4TlYpF4lGnMfVCPBIsYARrIw3sanp20w8kJpnIs2meDuyaU3fmQKvELUgNCjQH9ld/GJEkpEITjpXquU6svQxLzQineaWfKBpjMsEj2jNU4JAqL5sfnqNTowxREElTQqO5+nsiw6FSaeibzhDrsVr2ZuJ/Xi/RwbWXMREnmgqyWBQkHOkIzVJAQyYp0Tw1BBPJzK2IjLGJQZusKiYEd/nlVdK+qLtO3X24rDVuizjKcAwncA4uXEED7qEJLSCQwDO8wps1tV6sd+tj0Vqyipkj+APr8wcmipNn</latexit>

GAMES101 30 Lingqi Yan, UC Santa Barbara

 Perspective Projection
• In order to find a transformation
- Find the relationship between transformed points (x’, y’, z’)
and the original points (x, y, z)

n 0 n 0
y = y x = x (similar to y’)
z
<latexit sha1_base64="gYCqVp7QCzxySMpbJ4utMPl9GkQ=">AAAB+HicbVBNS8NAEJ3Ur1o/GvXoZbGInkoigl6EohePFewHtKFstpt26WYTdjdCGvJLvHhQxKs/xZv/xm2bg7Y+GHi8N8PMPD/mTGnH+bZKa+sbm1vl7crO7t5+1T44bKsokYS2SMQj2fWxopwJ2tJMc9qNJcWhz2nHn9zN/M4TlYpF4lGnMfVCPBIsYARrIw3sanp20w8kJpnIs2meDuyaU3fmQKvELUgNCjQH9ld/GJEkpEITjpXquU6svQxLzQineaWfKBpjMsEj2jNU4JAqL5sfnqNTowxREElTQqO5+nsiw6FSaeibzhDrsVr2ZuJ/Xi/RwbWXMREnmgqyWBQkHOkIzVJAQyYp0Tw1BBPJzK2IjLGJQZusKiYEd/nlVdK+qLtO3X24rDVuizjKcAwncA4uXEED7qEJLSCQwDO8wps1tV6sd+tj0Vqyipkj+APr8wcmipNn</latexit>
z
<latexit sha1_base64="9Vy/9JhE+ej/RY4O2ZmdE3kknpU=">AAAB+HicbVBNS8NAEJ3Ur1o/GvXoZbGInkoigl6EohePFewHtKFstpt26WYTdjfSNuSXePGgiFd/ijf/jds2B219MPB4b4aZeX7MmdKO820V1tY3NreK26Wd3b39sn1w2FRRIgltkIhHsu1jRTkTtKGZ5rQdS4pDn9OWP7qb+a0nKhWLxKOexNQL8UCwgBGsjdSzy+Ozm24gMUlFlk6zcc+uOFVnDrRK3JxUIEe9Z391+xFJQio04VipjuvE2kux1IxwmpW6iaIxJiM8oB1DBQ6p8tL54Rk6NUofBZE0JTSaq78nUhwqNQl90xliPVTL3kz8z+skOrj2UibiRFNBFouChCMdoVkKqM8kJZpPDMFEMnMrIkNsYtAmq5IJwV1+eZU0L6quU3UfLiu12zyOIhzDCZyDC1dQg3uoQwMIJPAMr/BmTa0X6936WLQWrHzmCP7A+vwBI3STZQ==</latexit>

• In homogeneous coordinates,
0 1 0 1 mult. 0 1
x nx/z nx
By C B ny/z C by z B ny C
B C)B C == B C
@z A @unknownA @still unknownA
1 1 z
<latexit sha1_base64="nZO54NGfca8TDoXBiZdVBA1kZVc=">AAACrHicbVFNTxsxEPVuvyD9SuHIxWpUqb2ku6gSXJBQuXArIAKp4lXkdWYTK157Zc+WLKv8uv4Dbv03eJOoCgkjefz0ZubZM5MWSjqMon9B+OLlq9dvdnZbb9+9//Cx/WnvxpnSCugJo4ztp9yBkhp6KFFBv7DA81TBbTo9a+K3f8A6afQ1VgUkOR9rmUnB0VPD9l+Wwljqusg5WjmbzyhjtGrcfeNiBnr0P0jZlRxPkFtr7uhGoZ59X1Toankzz09sXpd6qs2dnj+jdnKyLbKUWBdwKJVilK4L3T8RGrY7UTdaGN0G8Qp0yMouhu0HNjKizEGjUNy5QRwVmNTcohQK5i1WOii4mPIxDDzUPAeX1Ithz+kXz4xoZqw/GumCXa+oee5clac+s+nAbcYa8rnYoMTsOKmlLkoELZYPZaWiaGizOTqSFgSqygMurPR/pWLCLRfo99vyQ4g3W94GN4fdOOrGlz86pz9X49ghB+Qz+UpickROyTm5ID0igm/Br6Af/A674XU4CJNlahisavbJEwuzR7Y51SQ=</latexit>

GAMES101 31 Lingqi Yan, UC Santa Barbara

 Perspective Projection
• So the “squish” (persp to ortho) projection does this
0 1 0 1
x nx
(4⇥4) By C B ny C
Mpersp!ortho B C=B C
@ z A @unknownA
1 z
<latexit sha1_base64="9YCEgySZyET2l27Cv8DYo61N3vw=">AAACfnicbVHLThsxFPVMXzSlbSjLbtxGINqq6QyKBJtKqN2wQaJSA0hxGnmcm8SKx7bsO0A6ms/gx9jxLd3UM0QVhF7J1tE599j3kVklPSbJTRQ/evzk6bO1560X6y9fvW5vvDnxpnAC+sIo484y7kFJDX2UqODMOuB5puA0m3+v9dNzcF4a/RMXFoY5n2o5kYJjoEbtq6NRaYNuKXNyOkPunLmgxuHMVL/KnR5DmYOnvQ8Vy2AqdWlzjk5eVpeUMbqor9/1lTLQ438i/UpX0nWTrxsDC9zM5WWh59pc6Kp55J5/1O4k3aQJ+hCkS9Ahyzgeta/Z2IgiB41Cce8HaWJxWHKHUiioWqzwYLmY8ykMAtQ8NDUsm/FVdCswYzoxLhyNtGHvOkqee7/Is5BZV+5XtZr8nzYocLI/LKW2BYIWtx9NCkXR0HoXdCwdCFSLALhwMtRKxYw7LjBspBWGkK62/BCc7HbTpJv+6HUOvi3HsUbekvdkh6RkjxyQQ3JM+kSQP9G76GP0KSbxdvw5/nKbGkdLzya5F/H+Xzk1wwo=</latexit>

• Already good enough to figure out part of Mpersp->ortho

0 1
n 0 0 0
B0 n 0 0C
Mpersp!ortho =B
@?
C WHY?
? ? ?A
<latexit sha1_base64="5wR38YN7MeBsxyA3t6hOFh5Zdpo=">AAACYXicbVBNTxsxEPVuUz5CgYUec7GIQJyiXYREL1URvfRSKZUIRMpGkdeZJBZe27JnKdEqf7K3XrjwR+oNqzR8jPTkp/dm7PHLjBQO4/hvEH5ofNzY3Npu7nza3duPDg5vnC4shx7XUtt+xhxIoaCHAiX0jQWWZxJus7vvlX97D9YJra5xbmCYs6kSE8EZemkUPfwclcb7hqZWTGfIrNW/qbY404uvaQZToUqTM7TiYaHoCY1XSNMlUevCN0/+o+6okFRnCmq8umwUteNOvCz6liQ1aZO6uqPoTzrWvMhBIZfMuUESGxyWzKLgEhbNtHBgGL9jUxh4qlgOblguE1rQY6+M6URbD4V0qa5PlCx3bp5nvtPvN3OvvUp8zxsUOPkyLIUyBYLizw9NCklR0ypuOhYWOMq5J4xb4XelfMYs4+hDb/oQktdffktuzjpJ3El+nbcvr+o4tkiLHJFTkpALckl+kC7pEU4eg0awG+wFT+F2GIWHz61hUM98Ji8qbP0DL02s1Q==</latexit>
0 0 1 0
GAMES101 32 Lingqi Yan, UC Santa Barbara
 Perspective Projection
• How to figure out the third row of Mpersp->ortho
0 1
- Any information that we can use? n 0 0 0
B0 n 0 0C
Mpersp!ortho =B
@?
C
? ? ?A
<latexit sha1_base64="5wR38YN7MeBsxyA3t6hOFh5Zdpo=">AAACYXicbVBNTxsxEPVuUz5CgYUec7GIQJyiXYREL1URvfRSKZUIRMpGkdeZJBZe27JnKdEqf7K3XrjwR+oNqzR8jPTkp/dm7PHLjBQO4/hvEH5ofNzY3Npu7nza3duPDg5vnC4shx7XUtt+xhxIoaCHAiX0jQWWZxJus7vvlX97D9YJra5xbmCYs6kSE8EZemkUPfwclcb7hqZWTGfIrNW/qbY404uvaQZToUqTM7TiYaHoCY1XSNMlUevCN0/+o+6okFRnCmq8umwUteNOvCz6liQ1aZO6uqPoTzrWvMhBIZfMuUESGxyWzKLgEhbNtHBgGL9jUxh4qlgOblguE1rQY6+M6URbD4V0qa5PlCx3bp5nvtPvN3OvvUp8zxsUOPkyLIUyBYLizw9NCklR0ypuOhYWOMq5J4xb4XelfMYs4+hDb/oQktdffktuzjpJ3El+nbcvr+o4tkiLHJFTkpALckl+kC7pEU4eg0awG+wFT+F2GIWHz61hUM98Ji8qbP0DL02s1Q==</latexit>
0 0 1 0

• Observation: the third row is responsible for z’

- Any point on the near plane will not change

- Any point’s z on the far plane will not change

GAMES101 33 Lingqi Yan, UC Santa Barbara

 Perspective Projection
Any point on the near plane will not change •
0 1 0 1 0 1 0 1 0 1
x nx replace x x nx
B C B
y C B ny C C z with n B y C B y C B ny C
(4⇥4) B
Mpersp!ortho @ A = @ B C ) B C == B 2 C
z unknownA @n A @n A @n A
1 z 1 1 n
<latexit sha1_base64="9YCEgySZyET2l27Cv8DYo61N3vw=">AAACfnicbVHLThsxFPVMXzSlbSjLbtxGINqq6QyKBJtKqN2wQaJSA0hxGnmcm8SKx7bsO0A6ms/gx9jxLd3UM0QVhF7J1tE599j3kVklPSbJTRQ/evzk6bO1560X6y9fvW5vvDnxpnAC+sIo484y7kFJDX2UqODMOuB5puA0m3+v9dNzcF4a/RMXFoY5n2o5kYJjoEbtq6NRaYNuKXNyOkPunLmgxuHMVL/KnR5DmYOnvQ8Vy2AqdWlzjk5eVpeUMbqor9/1lTLQ438i/UpX0nWTrxsDC9zM5WWh59pc6Kp55J5/1O4k3aQJ+hCkS9Ahyzgeta/Z2IgiB41Cce8HaWJxWHKHUiioWqzwYLmY8ykMAtQ8NDUsm/FVdCswYzoxLhyNtGHvOkqee7/Is5BZV+5XtZr8nzYocLI/LKW2BYIWtx9NCkXR0HoXdCwdCFSLALhwMtRKxYw7LjBspBWGkK62/BCc7HbTpJv+6HUOvi3HsUbekvdkh6RkjxyQQ3JM+kSQP9G76GP0KSbxdvw5/nKbGkdLzya5F/H+Xzk1wwo=</latexit> <latexit sha1_base64="Rgv8ma+pWaANoPAAKsPdBWNLMVw=">AAACg3iclVFNTwIxEO2uoohfqEcvjURjYoK7hEQvJEQvHtHIR8Ii6ZYBGrrdTdtVyIY/4s/y5r+xuxCj4MVJOn15b146nfEjzpR2nE/L3tjMbW3ndwq7e/sHh8Wj45YKY0mhSUMeyo5PFHAmoKmZ5tCJJJDA59D2J/ep3n4FqVgonvUsgl5ARoINGSXaUP3iu+fDiIkkCoiWbDqfYs/DszSJNLkeiMG3iL0nNhprImX4hv9lrNXwqkFkDrGwvFSy65epXyw5ZScLvA7cJSihZTT6xQ9vENI4AKEpJ0p1XSfSvYRIzSiHecGLFUSETsgIugYKEoDqJdkM5/jcMAM8DKU5QuOM/elISKDULPBNpelvrFa1lPxL68Z6eNtLmIhiDYIuHhrGHOsQpwvBAyaBaj4zgFDJTK+YjokkVJu1FcwQ3NUvr4NWpew6ZfexWqrfLceRR6foDF0iF92gOnpADdRE1ELWhXVtOXbOvrIrdnVRaltLzwn6FXbtC3MlwjI=</latexit>

• So the third row must be of the form (0 0 A B)

0 1
x
By C n2 has nothing
0 0 A B C
B @ A=n 2
n to do with x and y

<latexit sha1_base64="qVcHsPCvwxEnxEvGQyxpiwV+lqE=">AAACRXicbVBNSwMxEM36WevXqkcvwaJ4KrtF0ItQ68VjBfsB3Vqy6bQNzWaXJCstS/+cF+/e/AdePCjiVbNtEds6MMPjvTdk8vyIM6Ud58VaWl5ZXVvPbGQ3t7Z3du29/aoKY0mhQkMeyrpPFHAmoKKZ5lCPJJDA51Dz+9epXnsAqVgo7vQwgmZAuoJ1GCXaUC3b83zoMpFEAdGSDUYOPsFpX5kueSDav8qccYA9Dw/TIdLhznjxJcbivtCyc07eGRdeBO4U5NC0yi372WuHNA5AaMqJUg3XiXQzIVIzymGU9WIFEaF90oWGgYIEoJrJOIURPjZMG3dCaVpoPGb/biQkUGoY+MZpzuypeS0l/9Mase5cNBMmoliDoJOHOjHHOsRppLjNJFDNhwYQKpm5FdMekYRqE3zWhODOf3kRVAt518m7t2e5YmkaRwYdoiN0ilx0joroBpVRBVH0iF7RO/qwnqw369P6mliXrOnOAZop6/sHM0SwRw==</latexit>
1
GAMES101 34 Lingqi Yan, UC Santa Barbara
 Perspective Projection
• What do we have now?
0 1
x
By C
0 0 A B B @n A
C = n2 An + B = n
<latexit sha1_base64="cV93bogGcvzIGlyEVosDDkQywA8=">AAAB83icbVDLSgNBEOz1GeMr6tHLYBAEIewGQS9CjBePEcwDkjXMTnqTIbOzy8ysEEJ+w4sHRbz6M978GyfJHjSxoKGo6qa7K0gE18Z1v52V1bX1jc3cVn57Z3dvv3Bw2NBxqhjWWSxi1QqoRsEl1g03AluJQhoFApvB8HbqN59QaR7LBzNK0I9oX/KQM2qs1LmR5JxUyTWRj+VuoeiW3BnIMvEyUoQMtW7hq9OLWRqhNExQrduemxh/TJXhTOAk30k1JpQNaR/blkoaofbHs5sn5NQqPRLGypY0ZKb+nhjTSOtRFNjOiJqBXvSm4n9eOzXhlT/mMkkNSjZfFKaCmJhMAyA9rpAZMbKEMsXtrYQNqKLM2JjyNgRv8eVl0iiXPLfk3V8UK9UsjhwcwwmcgQeXUIE7qEEdGCTwDK/w5qTOi/PufMxbV5xs5gj+wPn8ASPyj8k=</latexit>
2

1 <latexit sha1_base64="qVcHsPCvwxEnxEvGQyxpiwV+lqE=">AAACRXicbVBNSwMxEM36WevXqkcvwaJ4KrtF0ItQ68VjBfsB3Vqy6bQNzWaXJCstS/+cF+/e/AdePCjiVbNtEds6MMPjvTdk8vyIM6Ud58VaWl5ZXVvPbGQ3t7Z3du29/aoKY0mhQkMeyrpPFHAmoKKZ5lCPJJDA51Dz+9epXnsAqVgo7vQwgmZAuoJ1GCXaUC3b83zoMpFEAdGSDUYOPsFpX5kueSDav8qccYA9Dw/TIdLhznjxJcbivtCyc07eGRdeBO4U5NC0yi372WuHNA5AaMqJUg3XiXQzIVIzymGU9WIFEaF90oWGgYIEoJrJOIURPjZMG3dCaVpoPGb/biQkUGoY+MZpzuypeS0l/9Mase5cNBMmoliDoJOHOjHHOsRppLjNJFDNhwYQKpm5FdMekYRqE3zWhODOf3kRVAt518m7t2e5YmkaRwYdoiN0ilx0joroBpVRBVH0iF7RO/qwnqw369P6mliXrOnOAZop6/sHM0SwRw==</latexit>

• Any point’s z on the far plane will not change

0 1 0 1 0 1
0 0 0
B0C B0C B0C
B C ) B C == B 2 C Af + B = f 2
@f A @f A @f A <latexit sha1_base64="dUsWxJ1iy60PPvO5Ug0Huo9Tni8=">AAAB83icbVDLSgNBEOz1GeMr6tHLYBAEIewGQS9CjBePEcwDkjXMTnqTIbOzy8ysEEJ+w4sHRbz6M978GyfJHjSxoKGo6qa7K0gE18Z1v52V1bX1jc3cVn57Z3dvv3Bw2NBxqhjWWSxi1QqoRsEl1g03AluJQhoFApvB8HbqN59QaR7LBzNK0I9oX/KQM2qs1LkJyTmpkmsSPpa7haJbcmcgy8TLSBEy1LqFr04vZmmE0jBBtW57bmL8MVWGM4GTfCfVmFA2pH1sWypphNofz26ekFOr9EgYK1vSkJn6e2JMI61HUWA7I2oGetGbiv957dSEV/6YyyQ1KNl8UZgKYmIyDYD0uEJmxMgSyhS3txI2oIoyY2PK2xC8xZeXSaNc8tySd39RrFSzOHJwDCdwBh5cQgXuoAZ1YJDAM7zCm5M6L8678zFvXXGymSP4A+fzBwtSj7k=</latexit>

1 1 f
<latexit sha1_base64="m2OuDPSbSe1+rLBFqELXXuZdYDk=">AAACgXiclVFNSwMxEM1u/aj1q+rRS7AKerDsFkFBCkUvHqtYW+jWkk1n29Bsdkmyaln6P/xd3vwzYrotYq0IDmTyeG8emcz4MWdKO867ZeeWlldW82uF9Y3Nre3izu6DihJJoUEjHsmWTxRwJqChmebQiiWQ0OfQ9IfXE735BFKxSNzrUQydkPQFCxgl2lDd4qvnQ5+JNA6Jluxl7GDPw1kKJsn1QPS+ROzdsf5AEymjZ/wvY7WK/zA8VrJrztItlpyykwVeBO4MlNAs6t3im9eLaBKC0JQTpdquE+tOSqRmlMO44CUKYkKHpA9tAwUJQXXSbIJjfGSYHg4iaY7QOGO/O1ISKjUKfVNp+huon9qE/E1rJzq46KRMxIkGQacPBQnHOsKTdeAek0A1HxlAqGSmV0wHRBKqzdIKZgjuzy8vgodK2XXK7u1ZqXY1G0ce7aMDdIxcdI5q6AbVUQNR9GEdWqdW2c7ZJ7ZjV6altjXz7KG5sC8/AUJ+wG4=</latexit>

GAMES101 35 Lingqi Yan, UC Santa Barbara

 Perspective Projection
• Solve for A and B

An + B = n2
<latexit sha1_base64="cV93bogGcvzIGlyEVosDDkQywA8=">AAAB83icbVDLSgNBEOz1GeMr6tHLYBAEIewGQS9CjBePEcwDkjXMTnqTIbOzy8ysEEJ+w4sHRbz6M978GyfJHjSxoKGo6qa7K0gE18Z1v52V1bX1jc3cVn57Z3dvv3Bw2NBxqhjWWSxi1QqoRsEl1g03AluJQhoFApvB8HbqN59QaR7LBzNK0I9oX/KQM2qs1LmR5JxUyTWRj+VuoeiW3BnIMvEyUoQMtW7hq9OLWRqhNExQrduemxh/TJXhTOAk30k1JpQNaR/blkoaofbHs5sn5NQqPRLGypY0ZKb+nhjTSOtRFNjOiJqBXvSm4n9eOzXhlT/mMkkNSjZfFKaCmJhMAyA9rpAZMbKEMsXtrYQNqKLM2JjyNgRv8eVl0iiXPLfk3V8UK9UsjhwcwwmcgQeXUIE7qEEdGCTwDK/w5qTOi/PufMxbV5xs5gj+wPn8ASPyj8k=</latexit>
A=n+f
<latexit sha1_base64="1zIaFRyhT2WN+k3aHKqzTsYGb10=">AAAB8HicbVDLSgNBEOz1GeMr6tHLYBAEIeyKoBch6sVjBPOQZAmzk9lkyDyWmVkhLPkKLx4U8ernePNvnCR70MSChqKqm+6uKOHMWN//9paWV1bX1gsbxc2t7Z3d0t5+w6hUE1oniivdirChnElat8xy2ko0xSLitBkNbyd+84lqw5R8sKOEhgL3JYsZwdZJj9foCkl0iuJuqexX/CnQIglyUoYctW7pq9NTJBVUWsKxMe3AT2yYYW0Z4XRc7KSGJpgMcZ+2HZVYUBNm04PH6NgpPRQr7UpaNFV/T2RYGDMSkesU2A7MvDcR//PaqY0vw4zJJLVUktmiOOXIKjT5HvWYpsTykSOYaOZuRWSANSbWZVR0IQTzLy+Sxlkl8CvB/Xm5epPHUYBDOIITCOACqnAHNagDAQHP8ApvnvZevHfvY9a65OUzB/AH3ucPYuWO0Q==</latexit>

2 B = nf
Af + B = f <latexit sha1_base64="dUsWxJ1iy60PPvO5Ug0Huo9Tni8=">AAAB83icbVDLSgNBEOz1GeMr6tHLYBAEIewGQS9CjBePEcwDkjXMTnqTIbOzy8ysEEJ+w4sHRbz6M978GyfJHjSxoKGo6qa7K0gE18Z1v52V1bX1jc3cVn57Z3dvv3Bw2NBxqhjWWSxi1QqoRsEl1g03AluJQhoFApvB8HbqN59QaR7LBzNK0I9oX/KQM2qs1LkJyTmpkmsSPpa7haJbcmcgy8TLSBEy1LqFr04vZmmE0jBBtW57bmL8MVWGM4GTfCfVmFA2pH1sWypphNofz26ekFOr9EgYK1vSkJn6e2JMI61HUWA7I2oGetGbiv957dSEV/6YyyQ1KNl8UZgKYmIyDYD0uEJmxMgSyhS3txI2oIoyY2PK2xC8xZeXSaNc8tySd39RrFSzOHJwDCdwBh5cQgXuoAZ1YJDAM7zCm5M6L8678zFvXXGymSP4A+fzBwtSj7k=</latexit>
<latexit sha1_base64="Df63RBUG32geAUdl7q2iGx/W34A=">AAAB7nicbVBNS8NAEJ3Ur1q/qh69LBbBiyURQS9CqRePFewHtKFstpN26WYTdjdCCf0RXjwo4tXf481/47bNQVsfDDzem2FmXpAIro3rfjuFtfWNza3idmlnd2//oHx41NJxqhg2WSxi1QmoRsElNg03AjuJQhoFAtvB+G7mt59QaR7LRzNJ0I/oUPKQM2qs1K6TW3Ihw3654lbdOcgq8XJSgRyNfvmrN4hZGqE0TFCtu56bGD+jynAmcFrqpRoTysZ0iF1LJY1Q+9n83Ck5s8qAhLGyJQ2Zq78nMhppPYkC2xlRM9LL3kz8z+umJrzxMy6T1KBki0VhKoiJyex3MuAKmRETSyhT3N5K2IgqyoxNqGRD8JZfXiWty6rnVr2Hq0qtnsdRhBM4hXPw4BpqcA8NaAKDMTzDK7w5ifPivDsfi9aCk88cwx84nz+5RI6A</latexit>

• Finally, every entry in Mpersp->ortho is known!

• What’s next?
- Do orthographic projection (Mortho) to finish
- Mpersp = Mortho Mpersp!ortho <latexit sha1_base64="WpPNOtMiJjLpI1J0etlrsOBg8DM=">AAACFnicbZDLSgMxFIYz9VbrrerSTbAIbiwzIuhGKLpxI1SwF2hLyaSZTmgmGZIzShnmKdz4Km5cKOJW3Pk2phdBWw8EPv7/HE7O78eCG3DdLye3sLi0vJJfLaytb2xuFbd36kYlmrIaVULppk8ME1yyGnAQrBlrRiJfsIY/uBz5jTumDVfyFoYx60SkL3nAKQErdYtH1900tn6cnVtSGkKV/UhtzfshEK3VPZ443WLJLbvjwvPgTaGEplXtFj/bPUWTiEmgghjT8twYOinRwKlgWaGdGBYTOiB91rIoScRMJx2fleEDq/RwoLR9EvBY/T2RksiYYeTbzohAaGa9kfif10ogOOukXMYJMEkni4JEYFB4lBHucc0oiKEFQjW3f8U0JJpQsLEUbAje7MnzUD8ue27ZuzkpVS6mceTRHtpHh8hDp6iCrlAV1RBFD+gJvaBX59F5dt6c90lrzpnO7KI/5Xx8A9QUoQc=</latexit>

GAMES101 36 Lingqi Yan, UC Santa Barbara

Thank you!