Method homogeneous_matrix

plib/rigid_motion.py:27–33

returns the 4*4 homogeneous matrix.

(self)

        self.t = copy.deepcopy(np.reshape(t, (3, 1)))  # 3*1 position

    def homogeneous_matrix(self):
        """returns the 4*4 homogeneous matrix."""
        H = np.zeros((4, 4))
        H[0:3, 0:3] = self.R
        H[0:3, 3:4] = self.t
        H[3, 3] = 1
        return H

    @staticmethod
    def invert_homogeneous_matrix(H: np.ndarray) -> np.ndarray: