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Zivid.PointCloud.transform(numpy.array([4,4], dtype=numpy.float32)) #208

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MysteryNull opened this issue Mar 16, 2023 · 1 comment
Open

Zivid.PointCloud.transform(numpy.array([4,4], dtype=numpy.float32)) #208

MysteryNull opened this issue Mar 16, 2023 · 1 comment

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@MysteryNull
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Could you please tell me about the source code of the function "Zivid.PointCloud.transform(numpy.array([4,4], dtype=numpy.float32))"?
Thank you!
@eskaur
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eskaur commented Mar 16, 2023

Hi!

It transforms the PointCloud by matrix-multiplying the 4x4 matrix by each point represented as a 4-vector [x0,y0,z0,1] which yields new points [x1,y1,z1,1]. The transformation matrix should be an affine transform representing only Rotation+Translation.

Some sources for you:
https://support.zivid.com/en/latest/academy/applications/transform.html
https://en.wikipedia.org/wiki/Transformation_matrix#Affine_transformations
https://en.wikipedia.org/wiki/Affine_transformation

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@eskaur @MysteryNull