File: transformVector3d.m

package info (click to toggle)
octave-matgeom 1.2.4-2
  • links: PTS, VCS
  • area: main
  • in suites: forky, sid, trixie
  • size: 3,584 kB
  • sloc: objc: 469; makefile: 10
file content (70 lines) | stat: -rw-r--r-- 3,108 bytes parent folder | download
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
## Copyright (C) 2024 David Legland
## All rights reserved.
## 
## Redistribution and use in source and binary forms, with or without
## modification, are permitted provided that the following conditions are met:
## 
##     1 Redistributions of source code must retain the above copyright notice,
##       this list of conditions and the following disclaimer.
##     2 Redistributions in binary form must reproduce the above copyright
##       notice, this list of conditions and the following disclaimer in the
##       documentation and/or other materials provided with the distribution.
## 
## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS''
## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
## IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
## ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR
## ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
## DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
## SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
## CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
## OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
## OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
## 
## The views and conclusions contained in the software and documentation are
## those of the authors and should not be interpreted as representing official
## policies, either expressed or implied, of the copyright holders.

function varargout = transformVector3d(varargin)
%TRANSFORMVECTOR3D Transform a vector with a 3D affine transform.
%
%   V2 = transformVector3d(V1, TRANS);
%   Computes the vector obtained by transforming vector V1 with affine
%   transform TRANS.
%   V1 has the form [x1 y1 z1], and TRANS is a [3x3], [3x4], or [4x4]
%   matrix, with one of the forms:
%   [a b c]   ,   [a b c j] , or [a b c j]
%   [d e f]       [d e f k]      [d e f k]
%   [g h i]       [g h i l]      [g h i l]
%                                [0 0 0 1]
%
%   V2 = transformVector3d(V1, TRANS) also works when V1 is a [Nx3xMxEtc]
%   array of double. In this case, V2 has the same size as V1.
%
%   V2 = transformVector3d(X1, Y1, Z1, TRANS);
%   Specifies vectors coordinates in three arrays with same size.
%
%   [X2 Y2 Z2] = transformVector3d(...);
%   Returns the coordinates of the transformed vector separately.
%
%
%   See also 
%   vectors3d, transforms3d, transformPoint3d

% ------
% Author: David Legland 
% E-mail: david.legland@inrae.fr
% Created: 2008-11-25, from transformPoint3d
% Copyright 2008-2023 INRA - TPV URPOI - BIA IMASTE

if nargin~=2 && nargin~=4
    error('Invalid number of input arguments. Type ''help transformVector3d'' for details.');
end

% Extract only the linear part of the affine transform
trans = varargin{end};
trans(1:4,4) = [0; 0; 0; 1];

% Call transformPoint3d using equivalent output arguments
varargout = cell(1, max(1,nargout));
[varargout{:}] = transformPoint3d(varargin{1:end-1}, trans);