Digital Signal Processing Reference
In-Depth Information
Coordinate Transformations
Rectangular to Cylindrical
a
x
a
y
a
z
a
r
cos
φ
sin
φ
0
a
φ
−
sin
φ
cos
φ
0
a
z
0
0
1
Rectangular to Spherical
a
x
a
y
a
z
a
r
sin
θ
cos
φ
sin
θ
sin
φ
cos
θ
a
θ
cos
θ
cos
φ
cos
θ
sin
φ
−
sin
θ
a
φ
−
sin
φ
cos
φ
1
Cylindrical to Spherical
a
r
a
φ
a
z
a
r
sin
θ
0
cos
θ
a
θ
cos
θ
0
−
sin
θ
a
φ
0
1
0
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