hom_mat3d_composeT_hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dCompose (Operator)

Name

hom_mat3d_composeT_hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dCompose — Multiply two homogeneous 3D transformation matrices.

Signature

Description

hom_mat3d_composehom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dCompose composes a new 3D transformation matrix by multiplying the two input matrices:

  HomMat3DComposeHomMat3DComposeHomMat3DComposeHomMat3DComposehomMat3DCompose = HomMat3DLeftHomMat3DLeftHomMat3DLeftHomMat3DLefthomMat3DLeft * HomMat3DRightHomMat3DRightHomMat3DRightHomMat3DRighthomMat3DRight

For example, if the two input matrices correspond to rigid transformations, i.e., to transformations consisting of a rotation and a translation, the resulting matrix is calculated as follows:

  HomMat3DComposeHomMat3DComposeHomMat3DComposeHomMat3DComposehomMat3DCompose  =  | R(l)  t(l) |  *  | R(r)  t(r) |
                      | 0 0 0  1   |     | 0 0 0  1   |

                   =  | R(l)*R(r)  R(l)*t(r)+t(l) |
                      |  0 0 0           1        |

Parallelization

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Processed without parallelization.

Parameters

Result

If the parameters are valid, the operator hom_mat3d_composehom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dCompose returns 2 (H_MSG_TRUE). If necessary, an exception is raised.

Possible Predecessors

hom_mat3d_composehom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dCompose, hom_mat3d_translatehom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate, hom_mat3d_translate_localhom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocal, hom_mat3d_scalehom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScale, hom_mat3d_scale_localhom_mat3d_scale_localhom_mat3d_scale_localHomMat3dScaleLocalHomMat3dScaleLocal, hom_mat3d_rotatehom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate, hom_mat3d_rotate_localhom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocal, pose_to_hom_mat3dpose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d

Possible Successors

hom_mat3d_translatehom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate, hom_mat3d_translate_localhom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocal, hom_mat3d_scalehom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScale, hom_mat3d_scale_localhom_mat3d_scale_localhom_mat3d_scale_localHomMat3dScaleLocalHomMat3dScaleLocal, hom_mat3d_rotatehom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate, hom_mat3d_rotate_localhom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocal

See also

affine_trans_point_3daffine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3d, hom_mat3d_identityhom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentity, hom_mat3d_rotatehom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate, hom_mat3d_translatehom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate, pose_to_hom_mat3dpose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d, hom_mat3d_to_posehom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose

Module

Foundation