affine_trans_point_3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3dT_affine_trans_point_3d
Short description
affine_trans_point_3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3dT_affine_trans_point_3d — Apply an arbitrary affine 3D transformation to points.
Signature
affine_trans_point_3d( hom_mat3d HomMat3D, point3d.x Px, point3d.y Py, point3d.z Pz, out point3d.x Qx, out point3d.y Qy, out point3d.z Qz )void AffineTransPoint3d( const HTuple& HomMat3D, const HTuple& Px, const HTuple& Py, const HTuple& Pz, HTuple* Qx, HTuple* Qy, HTuple* Qz )static void HOperatorSet.AffineTransPoint3d( HTuple homMat3D, HTuple px, HTuple py, HTuple pz, out HTuple qx, out HTuple qy, out HTuple qz )def affine_trans_point_3d( hom_mat_3d: Sequence[float], px: MaybeSequence[Union[float, int]], py: MaybeSequence[Union[float, int]], pz: MaybeSequence[Union[float, int]] ) -> Tuple[Sequence[float], Sequence[float], Sequence[float]]
def affine_trans_point_3d_s( hom_mat_3d: Sequence[float], px: MaybeSequence[Union[float, int]], py: MaybeSequence[Union[float, int]], pz: MaybeSequence[Union[float, int]] ) -> Tuple[float, float, float]Herror T_affine_trans_point_3d( const Htuple HomMat3D, const Htuple Px, const Htuple Py, const Htuple Pz, Htuple* Qx, Htuple* Qy, Htuple* Qz )
HTuple HHomMat3D::AffineTransPoint3d( const HTuple& Px, const HTuple& Py, const HTuple& Pz, HTuple* Qy, HTuple* Qz ) const
double HHomMat3D::AffineTransPoint3d( double Px, double Py, double Pz, double* Qy, double* Qz ) const
HTuple HHomMat3D.AffineTransPoint3d( HTuple px, HTuple py, HTuple pz, out HTuple qy, out HTuple qz )
double HHomMat3D.AffineTransPoint3d( double px, double py, double pz, out double qy, out double qz )
Description
affine_trans_point_3dAffineTransPoint3d applies an arbitrary affine 3D transformation,
i.e., scaling, rotation, and translation, to the input points
(Pxpxpx,Pypypy,Pzpzpz) and returns the resulting points in
(Qxqxqx, Qyqyqy,Qzqzqz). The affine transformation is
described by the homogeneous transformation matrix given in
HomMat3DhomMat3Dhom_mat_3d. This corresponds to the following equation (input and
output points as homogeneous vectors):
\[\begin{eqnarray*}
\mvHomVectorThreeD{\textrm{Qx}}{\textrm{Qy}}{\textrm{Qz}} =
\textrm{HomMat3D} \cdot
\mvHomVectorThreeD{\textrm{Px}}{\textrm{Py}}{\textrm{Pz}}
\end{eqnarray*}\]
The transformation matrix can be created using the operators
hom_mat3d_identityHomMat3dIdentity, hom_mat3d_scaleHomMat3dScale,
hom_mat3d_rotateHomMat3dRotate, hom_mat3d_translateHomMat3dTranslate, etc., or be the result
of pose_to_hom_mat3dPoseToHomMat3d.
For example, if HomMat3DhomMat3Dhom_mat_3d corresponds to a rigid transformation,
i.e., if it consists of a rotation and a translation, the
points are transformed as follows:
\[\begin{eqnarray*}
\mvHomVectorThreeD{\textrm{Qx}}{\textrm{Qy}}{\textrm{Qz}} \: = \:
\mvHomMatrixThreeDRotTrans{\mvRotationMatrixVar{}{}}
{\mvTranslationVectorVar{}{}}
\cdot \mvHomVectorThreeD{\textrm{Px}}{\textrm{Py}}{\textrm{Pz}} \: = \:
\mvVectorTwoD{\mvRotationMatrixVar{}{} \cdot
\mvVectorThreeD{\textrm{Px}}{\textrm{Py}}{\textrm{Pz}} +
\mvTranslationVectorVar{}{}}{1}
\end{eqnarray*}\]
Execution information
-
Multithreading type: reentrant (runs in parallel with non-exclusive operators).
-
Multithreading scope: global (may be called from any thread).
-
Automatically parallelized on internal data level.
Parameters
HomMat3DhomMat3Dhom_mat_3d (input_control) hom_mat3d → (real)HTuple (double)HHomMat3D, HTuple (double)Sequence[float]Htuple (double)
Input transformation matrix.
Pxpxpx (input_control) point3d.x(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)
Input point(s) (x coordinate).
Default: 6464
Suggested values: 0, 16, 32, 64, 128, 256, 512, 10240, 16, 32, 64, 128, 256, 512, 1024
Pypypy (input_control) point3d.y(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)
Input point(s) (y coordinate).
Default: 6464
Suggested values: 0, 16, 32, 64, 128, 256, 512, 10240, 16, 32, 64, 128, 256, 512, 1024
Pzpzpz (input_control) point3d.z(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)
Input point(s) (z coordinate).
Default: 6464
Suggested values: 0, 16, 32, 64, 128, 256, 512, 10240, 16, 32, 64, 128, 256, 512, 1024
Qxqxqx (output_control) point3d.x(-array) → (real)HTuple (double)HTuple (double)Sequence[float]Htuple (double)
Output point(s) (x coordinate).
Qyqyqy (output_control) point3d.y(-array) → (real)HTuple (double)HTuple (double)Sequence[float]Htuple (double)
Output point(s) (y coordinate).
Qzqzqz (output_control) point3d.z(-array) → (real)HTuple (double)HTuple (double)Sequence[float]Htuple (double)
Output point(s) (z coordinate).
Result
If the parameters are valid, the operator affine_trans_point_3dAffineTransPoint3d
returns 2 (H_MSG_TRUE). If necessary, an exception is raised.
Combinations with other operators
Combinations
Possible predecessors
hom_mat3d_translateHomMat3dTranslate, hom_mat3d_translate_localHomMat3dTranslateLocal, hom_mat3d_scaleHomMat3dScale, hom_mat3d_scale_localHomMat3dScaleLocal, hom_mat3d_rotateHomMat3dRotate, hom_mat3d_rotate_localHomMat3dRotateLocal
Possible successors
hom_mat3d_translateHomMat3dTranslate, hom_mat3d_translate_localHomMat3dTranslateLocal, hom_mat3d_scaleHomMat3dScale, hom_mat3d_scale_localHomMat3dScaleLocal, hom_mat3d_rotateHomMat3dRotate, hom_mat3d_rotate_localHomMat3dRotateLocal
Module
Foundation