Operator Reference

HALCON Operator Reference / Transformations / 3D Transformations

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hom_mat3d_composeT_hom_mat3d_composeHomMat3dComposeHomMat3dComposehom_mat3d_compose (Operator)

hom_mat3d_composeT_hom_mat3d_composeHomMat3dComposeHomMat3dComposehom_mat3d_compose — Multiply two homogeneous 3D transformation matrices.

Signature

hom_mat3d_compose( : : HomMat3DLeft, HomMat3DRight : HomMat3DCompose)

Herror T_hom_mat3d_compose(const Htuple HomMat3DLeft, const Htuple HomMat3DRight, Htuple* HomMat3DCompose)

void HomMat3dCompose(const HTuple& HomMat3DLeft, const HTuple& HomMat3DRight, HTuple* HomMat3DCompose)

HHomMat3D HHomMat3D::HomMat3dCompose(const HHomMat3D& HomMat3DRight) const

static void HOperatorSet.HomMat3dCompose(HTuple homMat3DLeft, HTuple homMat3DRight, out HTuple homMat3DCompose)

HHomMat3D HHomMat3D.HomMat3dCompose(HHomMat3D homMat3DRight)

def hom_mat3d_compose(hom_mat_3dleft: Sequence[float], hom_mat_3dright: Sequence[float]) -> Sequence[float]

Description

hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposehom_mat3d_compose composes a new 3D transformation matrix by multiplying the two input matrices:

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:

Attention

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 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.

Execution Information

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

Parameters

HomMat3DLeftHomMat3DLeftHomMat3DLefthomMat3DLefthom_mat_3dleft (input_control)  hom_mat3d → HHomMat3D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Left input transformation matrix.

HomMat3DRightHomMat3DRightHomMat3DRighthomMat3DRighthom_mat_3dright (input_control)  hom_mat3d → HHomMat3D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Right input transformation matrix.

HomMat3DComposeHomMat3DComposeHomMat3DComposehomMat3DComposehom_mat_3dcompose (output_control)  hom_mat3d → HHomMat3D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Output transformation matrix.

Result

If the parameters are valid, the operator hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposehom_mat3d_compose returns 2 ( H_MSG_TRUE) . If necessary, an exception is raised.

Possible Predecessors

hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposehom_mat3d_compose, hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate, hom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocalhom_mat3d_translate_local, hom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScalehom_mat3d_scale, hom_mat3d_scale_localhom_mat3d_scale_localHomMat3dScaleLocalHomMat3dScaleLocalhom_mat3d_scale_local, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate, hom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocalhom_mat3d_rotate_local, pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d

Possible Successors

hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposehom_mat3d_compose, hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate, hom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocalhom_mat3d_translate_local, hom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScalehom_mat3d_scale, hom_mat3d_scale_localhom_mat3d_scale_localHomMat3dScaleLocalHomMat3dScaleLocalhom_mat3d_scale_local, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate, hom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocalhom_mat3d_rotate_local

Alternatives

pose_composepose_composePoseComposePoseComposepose_compose, dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposedual_quat_compose

See also

affine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3d, hom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentityhom_mat3d_identity, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate, hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate, pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose

Module

Foundation

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