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52 lines
2.0 KiB
52 lines
2.0 KiB
%HOMTRANS Apply a homogeneous transformation
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%
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% P2 = HOMTRANS(T, P) applies homogeneous transformation T to the points
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% stored columnwise in P.
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%
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% - If T is in SE(2) (3x3) and
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% - P is 2xN (2D points) they are considered Euclidean (R^2)
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% - P is 3xN (2D points) they are considered projective (P^2)
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% - If T is in SE(3) (4x4) and
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% - P is 3xN (3D points) they are considered Euclidean (R^3)
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% - P is 4xN (3D points) they are considered projective (P^3)
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%
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% TP = HOMTRANS(T, T1) applies homogeneous transformation T to the
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% homogeneous transformation T1, that is TP=T*T1. If T1 is a 3-dimensional
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% transformation then T is applied to each plane as defined by the first two
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% dimensions, ie. if T = NxN and T=NxNxP then the result is NxNxP.
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%
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% See also E2H, H2E.
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% Copyright (C) 1995-2009, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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function pt = homtrans(T, p)
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if numrows(p) == numrows(T)
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if ndims(p) == 3
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pt = [];
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for i=1:size(p,3)
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pt = cat(3, pt, T*p(:,:,i));
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end
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else
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pt = T * p;
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end
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elseif (numrows(T)-numrows(p)) == 1
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% second argument is Euclidean coordinate, promote to homogeneous
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pt = h2e( T * e2h(p) );
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else
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error('matrices and point data do not conform')
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end
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