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hom_mat3d_invertHomMat3dInvertHomMat3dInverthom_mat3d_invertT_hom_mat3d_invert🔗

Short description🔗

hom_mat3d_invertHomMat3dInvertHomMat3dInverthom_mat3d_invertT_hom_mat3d_invert — Invert a homogeneous 3D transformation matrix.

Signature🔗

hom_mat3d_invert( hom_mat3d HomMat3D, out hom_mat3d HomMat3DInvert )void HomMat3dInvert( const HTuple& HomMat3D, HTuple* HomMat3DInvert )static void HOperatorSet.HomMat3dInvert( HTuple homMat3D, out HTuple homMat3DInvert )def hom_mat3d_invert( hom_mat_3d: Sequence[float] ) -> Sequence[float]

Herror T_hom_mat3d_invert( const Htuple HomMat3D, Htuple* HomMat3DInvert )

HHomMat3D HHomMat3D::HomMat3dInvert( ) const

HHomMat3D HHomMat3D.HomMat3dInvert( )

Description🔗

hom_mat3d_invertHomMat3dInvert inverts the homogeneous 3D transformation matrix given by HomMat3DhomMat3Dhom_mat_3d. The resulting matrix is returned in HomMat3DInverthomMat3DInverthom_mat_3dinvert.

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 \(\mvHomMatrixThreeDElements{ ra & rb & rc & td \\ re & rf & rg & th \\ ri & rj & rk & tl}\) 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🔗

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🔗

HomMat3DhomMat3Dhom_mat_3d (input_control) hom_mat3d → (real)HTuple (double)HHomMat3D, HTuple (double)Sequence[float]Htuple (double)

Input transformation matrix.

HomMat3DInverthomMat3DInverthom_mat_3dinvert (output_control) hom_mat3d → (real)HTuple (double)HHomMat3D, HTuple (double)Sequence[float]Htuple (double)

Output transformation matrix.

Result🔗

hom_mat3d_invertHomMat3dInvert returns 2 (H_MSG_TRUE) if the parameters are valid and the input matrix is invertible. Otherwise, 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, pose_to_hom_mat3dPoseToHomMat3d

Possible successors

hom_mat3d_translateHomMat3dTranslate, hom_mat3d_translate_localHomMat3dTranslateLocal, hom_mat3d_scaleHomMat3dScale, hom_mat3d_scale_localHomMat3dScaleLocal, hom_mat3d_rotateHomMat3dRotate, hom_mat3d_rotate_localHomMat3dRotateLocal, hom_mat3d_to_poseHomMat3dToPose

Alternatives

pose_invertPoseInvert, dual_quat_conjugateDualQuatConjugate

See also

affine_trans_point_3dAffineTransPoint3d, hom_mat3d_identityHomMat3dIdentity, hom_mat3d_rotateHomMat3dRotate, hom_mat3d_translateHomMat3dTranslate, pose_to_hom_mat3dPoseToHomMat3d, hom_mat3d_to_poseHomMat3dToPose, hom_mat3d_composeHomMat3dCompose

Module🔗

Foundation