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warp.transform_point#

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

  • Kernel

  • Differentiable

Apply a transform to a point.

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

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

  • 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.