Materi kuliah GD3103 Fotogrametri I, Semester I2014/2015

Appendix 04C

Rotation Matrix
Compiled & developed by
Saptomo H Mertotaroeno, Ir., M.Sc.
saptomo@gd.itb.ac.id

KK Inderaja & Sains Informasi Geografis

Fakultas Ilmu dan Teknologi Kebumian
Institut Teknologi Bandung

Contents
3-D Rotation
The Development of the Rotation
Formulas
The (3-D) Rotation Matrix M
A Pure Algebraic Derivation of M
Numerical Example of a Rotation
Matrix

11/29/16 12:55:44 AM

Analytical Photogrammetry (1B),

SHM

3-D Rotation (1)

An xyz coordinate
system parallel to the
XYZ object system is
constructed with its
origin at the origin of
the xyz system.
In the development of
rota-tion formulas, the
convers-ion is from
the xyz system to
the xyz system (xyz

xyz).
(axis
rotation)

11/29/16 12:55:44 AM

The
rotation
equations
are
developed
in
a
Analytical Photogrammetry (1B),
3
SHM
sequence of three

3-D Rotation (2)

First, rotation
about the x axis
which
converts
coordinates from the
xyz system to an
x1y1z1 system (xyz
x1y1z1);
Second, rotation
about
the
oncerotated y1 axis which
converts
coordinates from the x1y1z1
system to an x2y2z2
sys-tem (x1y1z1
x2y2z2); and
sequential

The three
angular rotations Third,
11/29/16 12:55:44 AM

Analytical Photogrammetry (1B),

SHM

rotation
about
the
twicerotated z2 axis which4

Rotating a
Cartesian
system about
each axis

11/29/16 12:55:44 AM

Analytical Photogrammetry (1B),

SHM

Skipped

The Development of the Rotation

Formulas (1)

1. Omega rotation about

the x axis.

The coordinates of any

point A in the oncerotated x1y1z1 sys-tem
are :

In matrix form :

0
0 x
x1 1
y 0 cos sin y
1

z1 0 sin cos z

x1
M
x

The x and x1 axes are

coinci-dent,
and
therefore the x coor(1B),
dinate
AAnalytical Photogrammetry
isSHM
11/29/16 12:55:44 AMof

The Development of the Rotation

Formulas (2)

2. Phi rotation about the

y1 axis.

y1 and y2 axes are coincident,

and therefore the y coordinate
of A is un-changed.
The coordinates of point A in
the
twice-rotated
x2y2z2
system are :

In matrix form :
x2 cos 0 sin x1
y 0
y
1
0
2
1
z2 sin 0 cos z1

x2
M
x1
11/29/16 12:55:44 AM

Analytical Photogrammetry (1B),

SHM

The Development of the Rotation

Formulas (3)
3. Kappa rotation about
the z2 axis.

The coordinates of A in the

three-times-rotated
coordinate system, which
has now become the xyz
system are :

In matrix form :

x cos
y sin

z 0

The z2 and z axes are

coincident, and therefore the
z coordinate of A is unAnalytical Photogrammetry (1B),
changed.
11/29/16 12:55:44 AM
SHM

sin
cos
0
M

0
0
1

x2
y
2
z2

x2
8

The Development of the Rotation

Formulas (4)

where
x M x2 ; x2 M x1 ; x1 M x

x M M M x

x Mx
x m11 m12 m13 x
y m m m y
22
23
21

z m31 m32 m33 z

The matrix M is called

the
(3-D)
rotation
matrix.

11/29/16 12:55:44 AM

Analytical Photogrammetry (1B),

SHM

The (3-D) Rotation Matrix M (1)

All four matrices, M, M, M, and M, are
orthogonal matrices, which has the property that
its inverse is equal to its transpose, or
M-1 = MT ; MMT = MTM = I
By using this property, equation x = M x may be
rewritten as
MT x = MTM x x = MT x
In expanded form this equation is :
x = m11x + m21y + m31z
y = m12x + m22y + m32z
z = m13x + m23y + m33z
11/29/16 12:55:45 AM

Analytical Photogrammetry (1B),

SHM

10

The (3-D) Rotation Matrix M (2)

The three rotations M, M, and M are often
referred to as elementary rotations, since they
may be used to construct any required set of
sequential rotations.
The selection of the order of rotations, that is, the
primary, secondary, and tertiary axes, is arbitrary, but
it will affect the attitudes at which singularities occur.

The orthogonal matrix M may be constructed by

other methods besides sequential rotations , e.g.,
rotation matrix by direction cosines,
constructing M by one rotation about a line,
a purely algebraic derivation of M.

For the same problem, different formulas for

Analytical
Photogrammetry
rotation
matrix will
yield
the(1B),same numerical
11/29/16 12:55:45 AM
11
SHM

A Purely Algebraic
Derivation of M

Thefollowing
skew- symmetric
matrixcontains
onlythreeparameters
, a, b, andc:
0 c b
S c
0 a
b a
0
Anorthogonal
matrixM canbeobtained
fromSusing:
M (I S)(I S)1 (I S)1(I S)
inwhichI istheidentity
matrix.
It canbeprovedthatM isorthogonal
,bysimplyshowing
thatMTM I.
M (I S)1(I S)
1 a2 b2 c2
2ab 2c
2ac 2b
1

2ab 2c
1 a2 b2 c2
2bc 2a
2
2
2
1 a b c

2ac 2b
2bc 2a
1 a2 b2 c2

Advantage
:noneedtobotheraboutthesequence
ofrotations,
and
lesscumbersome
tolinearize.
Disadvanta
ge: theparameters
havenogeometric
interpreta
tion.
11/29/16 12:55:45 AM

Analytical Photogrammetry (1B),

SHM

12

Numerical Example of a Rotation Matrix

For( , , ) (2,5,15)degrees,
therotation
matrixM is
0.9622 0.2616 - 0.0751

- 0.2578 0.9645 0.0562

0.0871 - 0.0348 0.9956

11/29/16 12:55:45 AM

Analytical Photogrammetry (1B),

SHM

13

Materi kuliah GD3103 Fotogrametri I, Semester I2014/2015

End of

Appendix 03C

Rotation Matrix
Compiled & developed by
Saptomo H Mertotaroeno, Ir., M.Sc.
saptomo@gd.itb.ac.id

KK Inderaja & Sains Informasi Geografis

Fakultas Ilmu dan Teknologi Kebumian
Institut Teknologi Bandung