wpf 旋转 3D 坐标

Rotating a 3D coordinate

提问by akuhero

I need to rotate a single coordinate in WPF - C#.

我需要在 WPF-C# 中旋转单个坐标。

The values x, y,zstored in GeometryModel3D[]points.

x, y,z存储在GeometryModel3D[]点中的值。

For example, coordinate(x, y, z) rotate at speficic-axis.

例如，坐标（x，y，z）在特定轴上旋转。

[UPDATE] Rotation transformation using quaternion. The problem are I don't get the new vector value and when I view the pointcloud, It seem drag away in Meshlab.

[更新] 使用四元数的旋转变换。问题是我没有得到新的向量值，当我查看点云时，它似乎在 Meshlab 中被拖走了。

Matrix3D m = Matrix3D.Identity;
Quaternion q = new Quaternion(new Vector3D(320 / 2, y, maxDepth - minDepth), 90);
m.Rotate(q);
Vector3D myVectorToRotate = new Vector3D(((TranslateTransform3D)points[i].Transform).OffsetX,                        ((TranslateTransform3D)points[i].Transform).OffsetY,     ((TranslateTransform3D)points[i].Transform).OffsetZ);

m.Transform(myVectorToRotate);
pointcloud.Add(new Point3D(myVectorToRotate.X,myVectorToRotate.Y,myVectorToRotate.Z));

I'm still can't get the correct value transformation.

我仍然无法获得正确的价值转换。

I want to apply rotation transformation for 2nd point cloud scanned from kinect. Since the 1st scan data don't involved rotation, the code for capture data and usage is like below:

我想对从 kinect 扫描的第二个点云应用旋转变换。由于第一次扫描数据不涉及旋转，捕获数据和使用的代码如下：

for (int y = 0; y < 240; y += resolution)
{
    for (int x = 0; x < 320; x += resolution)
    {
        if (((TranslateTransform3D)points[i].Transform).OffsetZ >= minDepth
              && ((TranslateTransform3D)points[i].Transform).OffsetZ <= maxDepth)
        {
            pointcloud.Add(new Point3D(((TranslateTransform3D)points[i].Transform).OffsetX,                                                        ((TranslateTransform3D)points[i].Transform).OffsetY,                                              ((TranslateTransform3D)points[i].Transform).OffsetZ));
        }
        i++;
    }
}

回答by Matthias

Create any kind of matrix. For example a rotation matrixand then use the static method Vector.Multiply(...)See also this postand the MSDN general transformationoverview.

创建任何类型的矩阵。例如一个旋转矩阵，然后使用静态方法Vector.Multiply(...)另见这篇文章和MSDN 通用转换概述。

Examples for Vector3D:

Vector3D 的示例：

1. 3D transformation WPF

2. Rotate a vector by quaternion

   Vector3D v = new Vector3D(1.0, -1.0, 2.0);
   ...
   AxisAngleRotation3D axisAngle = new AxisAngleRotation3D(axis, angle);
   RotateTransform3D myRotateTransform = new RotateTransform3D(axisAngle, centerVector);
   v.Multiply(myRotateTransform);
   

1. 3D 变换 WPF

2. 按四元数旋转向量

   Vector3D v = new Vector3D(1.0, -1.0, 2.0);
   ...
   AxisAngleRotation3D axisAngle = new AxisAngleRotation3D(axis, angle);
   RotateTransform3D myRotateTransform = new RotateTransform3D(axisAngle, centerVector);
   v.Multiply(myRotateTransform);