Computer Graphics: Local Space, World Space and Cameras

Escuela Profesional de
Ciencia de la Computación
ICC Fase 1
Computer graphics
Local space, world space and
cameras
MSc. Vicente Machaca Arceda
Universidad Nacional de San Agustín de Arequipa
May 12, 2021
MSc. Vicente Machaca Arceda (UNSA) 1704146 1 / 24

Overview
1 Local space, world space and cameras

Local and world space
Eye space and camera
2 Projection matrices
The perspective projection matrix
The orthographic projection matrix
Look-at matrix
vmachacaa@unsa.edu.pe

Local space, world space and cameras Local and world space
Table of Contents

Look-at matrix

Local space, world space and cameras Local and world space
The space in which a model is defined is called its local space,

or model space. OpenGL documentation uses the term object
space.
The matrix that positions and orients an object into world space
is called a model matrix, or M.

Local space, world space and cameras Eye space and camera
Table of Contents

Look-at matrix

Camera
We will want to display our 3D space—or a portion of it—on a

2D monitor.
Figure: Positioning a camera in the 3D world. Source: [1]

Camera
OpenGL includes a camera that is permanently fixed at the
origin (0, 0, 0).
Figure: OpenGL fixed camera. Source: [1]

Camera in OpenGL
We need to simulate moving

the camera to a desire
location. How?
Figure: Camera orientation.

Source: [1]

Camera in OpenGL
We need to simulate moving

the camera to a desire
location. How?
Given a point at world space

location PW , we need a
transform to convert it to the
equivalent point in camera
space, making it appear as
Figure: Camera orientation. though we are viewing it from
Source: [1] the desired camera location
Cw .

Camera in OpenGL
The transformations are:

Translate PW by the
negative of the desired
camera location.
Rotate PW by the
negative of the desired
Figure: Camera orientation. camera orientation.
Source: [1]

Camera in OpenGL
We can build a single transform that does both the rotation (R)
and the translation (T) in one matrix, called the viewing
transform matrix (V).
We compute transformations using these equations:
PC = R ∗ (T ∗ PW ) (1)
PC = (R ∗ T ) ∗ PW (2)
PC = V ∗ PW (3)

Camera in OpenGL
Deriving a view matrix
Figure: Deriving a view matrix. Source: [1]


Camera in OpenGL
Model and View Matrices
More commonly, the V matrix is concatenated with the model

matrix M to form a single model-view (MV) matrix:
MV = V ∗ M (4)

Camera in OpenGL
Model and View Matrices
More commonly, the V matrix is concatenated with the model

matrix M to form a single model-view (MV) matrix:
MV = V ∗ M (4)
Then, a point PM in its own model space is transformed directly

to camera space in one step as follows:
PC = MV ∗ PM (5)

Projection matrices The perspective projection matrix
Table of Contents

Look-at matrix

Perspective projection
attempts to make a 2D picture
appear 3D.
Objects that are close appear

larger than objects that are far
away, and in some cases,
parallel lines in 3D space are
no longer parallel.
Figure: The Annunciation, with

Saint Emidius (Crivelli – 1486).

The shape formed by field of view, near and far clipping plane is
called frustum.
Figure: Perspective view volume or frustum. Source: [1]

The perspective matrix is used to transform points in 3D space

to their appropriate position on the near clipping plane, and it is
built by:
1
q= (6)
fieldOfView
tan( )
2
q
A= (7)
aspectRatio Figure: Perspective matrix.
Znear + Zfar
B= (8)
Znear − Zfar
The GLM library includes a
glm::perspective() for
2 ∗ (Znear ∗ Zfar ) building a perspective matrix.
C= (9)
Znear − Zfar

Projection matrices The orthographic projection matrix
Table of Contents

Look-at matrix

In orthographic projection, parallel lines remain parallel.

Figure: Orthographic projection. Source: [1]

Parameters:
Znear
Zfar
L and R: X coordinates of
left and right boundaries
of the projection plane.
T and B: Y coordinates of
top and bottom
boundaries of the Figure: Orthographic projection
matrix.
projection plane.
Parallel projection is useful in situations like casting shadows,

performing 3D clipping, and in CAD (computer aided design).

Projection matrices Look-at matrix
Table of Contents

Look-at matrix

Look-at matrix
This is handy when you wish to place the camera at one location
and look toward a particular other location.
Figure: Elements of look-at. Source: [1]

Look-at matrix
Figure: Look-at matrix. Source: [1]

GLM includes a function glm::lookAt() for building a look-at

matrix.

References I
V. S. Gordon and J. L. Clevenger, Computer Graphics

Programming in OpenGL with C++. Stylus Publishing,
LLC, 2020.

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Escuela Profesional de

MSc. Vicente Machaca Arceda

Universidad Nacional de San Agustín de Arequipa

May 12, 2021

MSc. Vicente Machaca Arceda (UNSA) 1704146 1 / 24

1 Local space, world space and cameras

MSc. Vicente Machaca Arceda (UNSA) 1704146 2 / 24

1 Local space, world space and cameras

MSc. Vicente Machaca Arceda (UNSA) 1704146 3 / 24

Local and world space

The space in which a model is defined is called its local space,

MSc. Vicente Machaca Arceda (UNSA) 1704146 4 / 24

1 Local space, world space and cameras

MSc. Vicente Machaca Arceda (UNSA) 1704146 5 / 24

We will want to display our 3D space—or a portion of it—on a

Figure: Positioning a camera in the 3D world. Source: [1]

MSc. Vicente Machaca Arceda (UNSA) 1704146 6 / 24

Figure: OpenGL fixed camera. Source: [1]

MSc. Vicente Machaca Arceda (UNSA) 1704146 7 / 24

We need to simulate moving

Figure: Camera orientation.

MSc. Vicente Machaca Arceda (UNSA) 1704146 8 / 24

We need to simulate moving

Given a point at world space

MSc. Vicente Machaca Arceda (UNSA) 1704146 8 / 24

The transformations are:

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We compute transformations using these equations:

MSc. Vicente Machaca Arceda (UNSA) 1704146 10 / 24

Figure: Deriving a view matrix. Source: [1]

MSc. Vicente Machaca Arceda (UNSA) 1704146 11 / 24

More commonly, the V matrix is concatenated with the model

MSc. Vicente Machaca Arceda (UNSA) 1704146 12 / 24

More commonly, the V matrix is concatenated with the model

Then, a point PM in its own model space is transformed directly

MSc. Vicente Machaca Arceda (UNSA) 1704146 12 / 24

1 Local space, world space and cameras

MSc. Vicente Machaca Arceda (UNSA) 1704146 13 / 24

The perspective projection matrix

Objects that are close appear

Figure: The Annunciation, with

The perspective projection matrix

Figure: Perspective view volume or frustum. Source: [1]

MSc. Vicente Machaca Arceda (UNSA) 1704146 15 / 24

The perspective projection matrix

The perspective matrix is used to transform points in 3D space

MSc. Vicente Machaca Arceda (UNSA) 1704146 16 / 24

1 Local space, world space and cameras

MSc. Vicente Machaca Arceda (UNSA) 1704146 17 / 24

The orthographic projection matrix

In orthographic projection, parallel lines remain parallel.

Figure: Orthographic projection. Source: [1]

MSc. Vicente Machaca Arceda (UNSA) 1704146 18 / 24

The orthographic projection matrix

Parallel projection is useful in situations like casting shadows,

MSc. Vicente Machaca Arceda (UNSA) 1704146 19 / 24

1 Local space, world space and cameras

MSc. Vicente Machaca Arceda (UNSA) 1704146 20 / 24

Figure: Elements of look-at. Source: [1]