warp.transform_point

warp.transform_point(

xform: Transformation[Float],

point: Vector[3, Float],

) → Vector[3, Float]

Kernel

Differentiable

Apply the transform to a point point treating the homogeneous coordinate as w=1 (translation and rotation).

warp.transform_point(

mat: Matrix[4, 4, Float],

point: Vector[3, Float],

) → Vector[3, Float]

Kernel

Differentiable

Apply the transform to a point point treating 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.