Why the result of cv::affine3d(4x4) times cv::vec3d(3 dimensions vector) is still CV::Vec3d?

berak · February 14, 2023, 12:10pm

ok, sorry, @crackwitz is right here:

opencv/opencv/blob/4.x/modules/core/include/opencv2/core/affine.hpp#L629-L638


      
          static inline
          cv::Vec3d cv::operator*(const cv::Affine3d& affine, const cv::Vec3d& v)
          {
              const cv::Matx44d& m = affine.matrix;
              cv::Vec3d r;
              r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[ 2] * v[2] + m.val[ 3];
              r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[ 6] * v[2] + m.val[ 7];
              r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11];
              return r;
          }

(and it’s not a homogeneous transform, as i assumed)

Topic		Replies	Views
estimateAffine3D() [1/2] 3rd column is always zero C++	1	261	October 25, 2022
WarpAffine for 3D C++	4	3178	April 5, 2021
3D points transform with matrix C++ calib3d	1	1176	June 23, 2022
Opencv matrix multiplication C++ mat , core	1	2986	August 7, 2021
Two different results with matrix calculations core	14	574	January 12, 2022

Why the result of cv::affine3d(4x4) times cv::vec3d(3 dimensions vector) is still CV::Vec3d?

Related topics