Functions working on affine transformation matrices.
Combine a matrix and vector into a homogeneous transform.
Combine a rotation matrix and translation vector into a transform in homogeneous coordinates.
Parameters: | matrix : ndarray
vector : ndarray
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Returns: | xform : ndarray
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See also
Split a transform into it’s matrix and vector components.
The tranformation must be represented in homogeneous coordinates and is split into it’s rotation matrix and translation vector components.
Parameters: | transform : ndarray
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Returns: | matrix, vector : ndarray
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See also