Perception Tool Kit (PTK) API Guide

Detailed Description

Rigid Transform Matrix (single precision).

Collaboration diagram for PTK_RigidTransform:
Collaboration graph

Data Fields

float M [16]
 

Field Documentation

◆ M

float PTK_RigidTransform::M[16]

Row-major representation of the matrix with the fourth row set to [0 0 0 1].

+-- --+ +-- --+
| M[0] M[1] M[2] M[3] | | R[0] R[1] R[2] T[0] |
| M[4] M[5] M[6] M[7] | == | R[3] R[4] R[5] T[1] |
| M[8] M[9] M[10] M[11] | | R[6] R[7] R[8] T[2] |
| M[12] M[13] M[14] M[15] | | 0 0 0 1 |
+-- --+ +-- --+

where R[] is the rotation matrix and T[] is the translation vector.