new: transform a single point

yxlao · Apr 23, 2024 · 7e343a3 · 7e343a3
1 parent d679c12
commit 7e343a3
Showing 1 changed file with 19 additions and 0 deletions.
diff --git a/camtools/transform.py b/camtools/transform.py
@@ -27,3 +27,22 @@ def transform_points(points, transform_mat):
  points_transformed = convert.from_homo(points_transformed)
 
  return points_transformed
+
+
+def transform_point(point, transform_mat):
+ """
+ Transform a single point by a 4x4 matrix via homogenous coordinates projection.
+
+ Args:
+ point: (3,) array.
+ mat: (4, 4) array, the transformation matrix.
+
+ Returns:
+ (3,) array, the transformed point.
+ """
+ sanity.assert_shape_3(point, name="point")
+ sanity.assert_shape_4x4(transform_mat, name="mat")
+
+ point_transformed = transform_points(point[None], transform_mat)[0]
+
+ return point_transformed