warp.transform_point#

warp.transform_point(
xform: Transformation[Float],
point: Vector[Literal[3], Float],
) → Vector[Literal[3], Float]#

  • Kernel

  • Differentiable

Apply a transform to a point.

Treat the homogeneous coordinate as w=1 (translation and rotation).

warp.transform_point(
mat: Matrix[Literal[4], Literal[4], Float],
point: Vector[Literal[3], Float],
) → Vector[Literal[3], Float]

  • Kernel

  • Differentiable

Apply a transform to a point.

Treat the homogeneous coordinate as w=1.

The transformation is applied treating point as a column vector, e.g.: y = mat*point.

This is in contrast to some libraries, notably USD, which applies transforms to row vectors, y^T = point^T*mat^T. If the transform is coming from a library that uses row-vectors, then users should transpose the transformation matrix before calling this method.