Operators

# affine_trans_point_3d (Operator)

## Name

affine_trans_point_3d — Apply an arbitrary affine 3D transformation to points.

## Signature

affine_trans_point_3d( : : HomMat3D, Px, Py, Pz : Qx, Qy, Qz)

## Description

affine_trans_point_3d applies an arbitrary affine 3D transformation, i.e., scaling, rotation, and translation, to the input points (Px,Py,Pz) and returns the resulting points in (Qx, Qy,Qz). The affine transformation is described by the homogeneous transformation matrix given in HomMat3D. This corresponds to the following equation (input and output points as homogeneous vectors):

The transformation matrix can be created using the operators hom_mat3d_identity, hom_mat3d_scale, hom_mat3d_rotate, hom_mat3d_translate, etc., or be the result of pose_to_hom_mat3d.

For example, if HomMat3D corresponds to a rigid transformation, i.e., if it consists of a rotation and a translation, the points are transformed as follows:

## Parallelization

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

## Parameters

HomMat3D (input_control)  hom_mat3d (real)

Input transformation matrix.

Px (input_control)  point3d.x(-array) (real / integer)

Input point(s) (x coordinate).

Default value: 64

Suggested values: 0, 16, 32, 64, 128, 256, 512, 1024

Py (input_control)  point3d.y(-array) (real / integer)

Input point(s) (y coordinate).

Default value: 64

Suggested values: 0, 16, 32, 64, 128, 256, 512, 1024

Pz (input_control)  point3d.z(-array) (real / integer)

Input point(s) (z coordinate).

Default value: 64

Suggested values: 0, 16, 32, 64, 128, 256, 512, 1024

Qx (output_control)  point3d.x(-array) (real)

Output point(s) (x coordinate).

Qy (output_control)  point3d.y(-array) (real)

Output point(s) (y coordinate).

Qz (output_control)  point3d.z(-array) (real)

Output point(s) (z coordinate).

## Result

If the parameters are valid, the operator affine_trans_point_3d returns 2 (H_MSG_TRUE). If necessary, an exception is raised.

## Module

Foundation

 Operators