hom_mat3d_invert — Invert a homogeneous 3D transformation matrix.
hom_mat3d_invert inverts the homogeneous 3D transformation matrix given by HomMat3D. The resulting matrix is returned in HomMat3DInvert.
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.
Input transformation matrix.
Output transformation matrix.
hom_mat3d_invert returns 2 (H_MSG_TRUE) if the parameters are valid and the input matrix is invertible. Otherwise, an exception is raised.
hom_mat3d_translate, hom_mat3d_translate_local, hom_mat3d_scale, hom_mat3d_scale_local, hom_mat3d_rotate, hom_mat3d_rotate_local, pose_to_hom_mat3d
hom_mat3d_translate, hom_mat3d_translate_local, hom_mat3d_scale, hom_mat3d_scale_local, hom_mat3d_rotate, hom_mat3d_rotate_local, hom_mat3d_to_pose
affine_trans_point_3d, hom_mat3d_identity, hom_mat3d_rotate, hom_mat3d_translate, pose_to_hom_mat3d, hom_mat3d_to_pose, hom_mat3d_compose