[Math] new plane equation after transformation of coordinates

coordinate systemsgeometryplane-geometry

I have a plane equation $ax + by + cz + d = 0$ w.r.t to a particular coordinate frame.
this coordinate frame w.r.t to the world coordinate frame is

$$\begin{vmatrix}
r_1 & r_2 & r_3 & x_1 \\
r_4 & r_5 & r_6 & y_1 \\
r_7 & r_8 & r_9 & z_1
\end{vmatrix}$$

now, what is the equation of plane in the world coordinate frame?

Best Answer

The equation of the plane can be created from the dot product of two homogeneous vectors

$$ ax+by+cz+d = 0$$ $$ \begin{pmatrix} x\\y\\z\\1 \end{pmatrix}^\intercal \begin{pmatrix} a\\b\\c\\d \end{pmatrix} =0 $$

The world coordinates of the local $(x,y,z,1)$ are

$$ \begin{pmatrix} u \\ v \\ w \\ 1 \end{pmatrix} = \begin{vmatrix} r_1 & r_2 & r_3 & x_1 \\ r_4 & r_5 & r_6 & y_1 \\ r_7 & r_8 & r_9 & z_1 \\ 0 & 0 & 0 & 1 \end{vmatrix} \begin{pmatrix} x \\ y \\ z \\ 1 \end{pmatrix} $$

Taking the inverse you find that the coefficients $(A,B,C,D)$ of the plane $Au+Bv+Cw+D=0$ are

$$ \begin{pmatrix} A \\ B \\ C\\ D \end{pmatrix} = \begin{vmatrix} r_1 & r_2 & r_3 & x_1 \\ r_4 & r_5 & r_6 & y_1 \\ r_7 & r_8 & r_9 & z_1 \\ 0 & 0 & 0 & 1 \end{vmatrix}^{-\intercal} \begin{pmatrix} a\\b\\c\\d \end{pmatrix} $$

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