Operators

hom_mat2d_rotate_local (Operator)

Name

hom_mat2d_rotate_local — Add a rotation to a homogeneous 2D transformation matrix.

Signature

hom_mat2d_rotate_local( : : HomMat2D, Phi : HomMat2DRotate)

Description

hom_mat2d_rotate_local adds a rotation by the angle Phi to the homogeneous 2D transformation matrix HomMat2D and returns the resulting matrix in HomMat2DRotate. The rotation is described by a 2×2 rotation matrix R. In contrast to hom_mat2d_rotate, it is performed relative to the local coordinate system, i.e., the coordinate system described by HomMat2D; this corresponds to the following chain of transformation matrices:

/ cos(Phi) -sin(Phi) 0 \
HomMat2DRotate = HomMat2D * | sin(Phi)  cos(Phi) 0 |
\    0         0     1 /

R = | cos(Phi) -sin(Phi) |
| sin(Phi)  cos(Phi) |

The fixed point of the transformation is the origin of the local coordinate system, i.e., this point remains unchanged when transformed using HomMat2DRotate.

Attention

It should be noted that homogeneous transformation matrices refer to a general right-handed mathematical coordinate system. If a homogeneous transformation matrix is used to transform images, regions, XLD contours, or any other data that has been extracted from images, the row coordinates of the transformation must be passed in the x coordinates, while the column coordinates must be passed in the y coordinates. Consequently, the order of passing row and column coordinates follows the usual order (Row,Column). This convention is essential to obtain a right-handed coordinate system for the transformation of iconic data, and consequently to ensure in particular that rotations are performed in the correct mathematical direction.

Note that homogeneous matrices are stored row-by-row as a tuple; the last row is usually not stored because it is identical for all homogeneous matrices that describe an affine transformation. For example, the homogeneous matrix

/ ra rb tc \
| rd re tf |
\ 0  0  1  /

is stored as the tuple [ra, rb, tc, rd, re, tf]. However, it is also possible to process full 3×3 matrices, which represent a projective 2D transformation.

Parallelization

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Processed without parallelization.

Parameters

HomMat2D (input_control)  hom_mat2d (real)

Input transformation matrix.

Phi (input_control)  angle.rad (real / integer)

Rotation angle.

Default value: 0.78

Suggested values: 0.1, 0.2, 0.3, 0.4, 0.78, 1.57, 3.14

Typical range of values: 0 ≤ Phi ≤ 6.28318530718

HomMat2DRotate (output_control)  hom_mat2d (real)

Output transformation matrix.

Result

If the parameters are valid, the operator hom_mat2d_rotate_local returns 2 (H_MSG_TRUE). If necessary, an exception is raised.