Home > vbmeg > functions > common > coordinate > vb_rigid_transform.m

vb_rigid_transform

PURPOSE ^

Apply rigid body transformation to 'X'

SYNOPSIS ^

function Xout = vb_rigid_transform(X, para)

DESCRIPTION ^

 Apply rigid body transformation to 'X'
   Xout = vb_rigid_transform(X, para)
 --- Input
 X    : 3D-coordinate to be transformed (Nx3 vector)
 para : [ dX ; th ] rigid body transformation parameter (6x1 vector)
   dX : Translation parameter of 3 directions        (3x1 vector)
   th : Rotation angle around x, y, z axis [radian]  (3x1 vector) 
 --- Output
 Xout     : transformed coordinate   (Nx3 vector)


 Copyright (C) 2011, ATR All Rights Reserved.
 License : New BSD License(see VBMEG_LICENSE.txt)

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function Xout = vb_rigid_transform(X, para)
0002 % Apply rigid body transformation to 'X'
0003 %   Xout = vb_rigid_transform(X, para)
0004 % --- Input
0005 % X    : 3D-coordinate to be transformed (Nx3 vector)
0006 % para : [ dX ; th ] rigid body transformation parameter (6x1 vector)
0007 %   dX : Translation parameter of 3 directions        (3x1 vector)
0008 %   th : Rotation angle around x, y, z axis [radian]  (3x1 vector)
0009 % --- Output
0010 % Xout     : transformed coordinate   (Nx3 vector)
0011 %
0012 %
0013 % Copyright (C) 2011, ATR All Rights Reserved.
0014 % License : New BSD License(see VBMEG_LICENSE.txt)
0015 
0016 dX = para(1:3);
0017 th = para(4:6);
0018 
0019 Rot_x = [1 0 0 ;...
0020          0  cos(th(1)) -sin(th(1));...
0021          0  sin(th(1))  cos(th(1));...
0022          ];
0023         
0024 Rot_y = [ cos(th(2)) 0 -sin(th(2));...
0025           0 1 0 ;...
0026           sin(th(2)) 0  cos(th(2));...
0027          ];
0028         
0029 Rot_z = [ cos(th(3)) -sin(th(3)) 0;...
0030           sin(th(3))  cos(th(3)) 0;...
0031           0 0 1 ;...
0032          ];
0033                     
0034 % Rotation matrix
0035 Rot  = Rot_z * Rot_y * Rot_x;
0036 
0037 % Rotation
0038 Xout =  X * Rot;
0039 
0040 % Translation
0041 Xout(:,1) = Xout(:,1) + dX(1);
0042 Xout(:,2) = Xout(:,2) + dX(2);
0043 Xout(:,3) = Xout(:,3) + dX(3);
0044

Generated on Mon 22-May-2023 06:53:56 by m2html © 2005