Yaw, Pitch and Roll

In flight simulators, the angles of rotation are about the center of mass of the airplane. The camera is in the nose of the plane.

 Pitch :

 Roll :

 Yaw :

The U-V-N System

The camera plane is defined by 3 parameters:

• View Reference Point (VRP): A point (in the world frame) indicating the center of the camera's image plane. This specifies the position of the camera in space.
• View Plane Normal (VPN): A unit vector perpendicular to the camera's image plane. This specifies the orientation of the camera.
• View Up (VUP): A vector indicating the up direction (in world coordinates) for the camera.

3d Viewing in Computer Graphics

3d Viewing in Computer Graphics

      Two stages to the 3D to 2D transformation

• First a clipping,
• Then a projection.

The view volume of a perspective projection is the infinite volume defined by the combination of the PRP and the view window, which defines a pyramid. This can be contrasted to the view volume for a parallel projection which gives an infinite parallelepiped.

Projection Matrices