Name
hom_mat3d_composeT_hom_mat3d_composeHomMat3dComposehom_mat3d_composeHomMat3dComposeHomMat3dCompose — Multiply two homogeneous 3D transformation matrices.
hom_mat3d_composehom_mat3d_composeHomMat3dComposehom_mat3d_composeHomMat3dComposeHomMat3dCompose composes a new 3D transformation matrix
by multiplying the two input matrices:
HomMat3DComposeHomMat3DComposeHomMat3DComposeHomMat3DComposeHomMat3DComposehomMat3DCompose = HomMat3DLeftHomMat3DLeftHomMat3DLeftHomMat3DLeftHomMat3DLefthomMat3DLeft * HomMat3DRightHomMat3DRightHomMat3DRightHomMat3DRightHomMat3DRighthomMat3DRight
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:
HomMat3DComposeHomMat3DComposeHomMat3DComposeHomMat3DComposeHomMat3DComposehomMat3DCompose = | 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 |
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 rc td \
| re rf rg th |
| ri rj rk tl |
\ 0 0 0 1 /
is stored as the tuple [ra, rb, rc, td, re, rf, rg, th, ri, rj, rk, tl].
However, it is also possible to process full 4×4 matrices,
which represent a projective 4D transformation.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
Left input transformation matrix.
Right input transformation matrix.
Output transformation matrix.
If the parameters are valid, the operator hom_mat3d_composehom_mat3d_composeHomMat3dComposehom_mat3d_composeHomMat3dComposeHomMat3dCompose returns
2 (H_MSG_TRUE). If necessary, an exception is raised.
hom_mat3d_composehom_mat3d_composeHomMat3dComposehom_mat3d_composeHomMat3dComposeHomMat3dCompose,
hom_mat3d_translatehom_mat3d_translateHomMat3dTranslatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate,
hom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocal,
hom_mat3d_scalehom_mat3d_scaleHomMat3dScalehom_mat3d_scaleHomMat3dScaleHomMat3dScale,
hom_mat3d_scale_localhom_mat3d_scale_localHomMat3dScaleLocalhom_mat3d_scale_localHomMat3dScaleLocalHomMat3dScaleLocal,
hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate,
hom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocal,
pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d
hom_mat3d_composehom_mat3d_composeHomMat3dComposehom_mat3d_composeHomMat3dComposeHomMat3dCompose,
hom_mat3d_translatehom_mat3d_translateHomMat3dTranslatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate,
hom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocal,
hom_mat3d_scalehom_mat3d_scaleHomMat3dScalehom_mat3d_scaleHomMat3dScaleHomMat3dScale,
hom_mat3d_scale_localhom_mat3d_scale_localHomMat3dScaleLocalhom_mat3d_scale_localHomMat3dScaleLocalHomMat3dScaleLocal,
hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate,
hom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocal
affine_trans_point_3daffine_trans_point_3dAffineTransPoint3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3d,
hom_mat3d_identityhom_mat3d_identityHomMat3dIdentityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentity,
hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate,
hom_mat3d_translatehom_mat3d_translateHomMat3dTranslatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate,
pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d,
hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPosehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose
Foundation