Multiply two homogeneous 3D transformation matrices.

hom_mat3d_compose composes a new 3D transformation matrix by multiplying the two input matrices:

  HomMat3DCompose = HomMat3DLeft * HomMat3DRight

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:

  HomMat3DCompose  =  | R(l)  t(l) |  *  | R(r)  t(r) | 
                      | 0 0 0  1   |     | 0 0 0  1   |

                   =  | R(l)*R(r)  R(l)*t(r)+t(l) |
                      |  0 0 0           1        |

If the parameters are valid, the operator hom_mat3d_compose returns 2 (H_MSG_TRUE). If necessary, an exception is raised.

hom_mat3d_compose is reentrant and processed without parallelization.

hom_mat3d_compose, hom_mat3d_translate, hom_mat3d_scale, hom_mat3d_rotate, pose_to_hom_mat3d

hom_mat3d_translate, hom_mat3d_scale, hom_mat3d_rotate

affine_trans_point_3d, hom_mat3d_identity, hom_mat3d_rotate, hom_mat3d_translate, pose_to_hom_mat3d, hom_mat3d_to_pose

Basic operators