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# homtrans

Apply a homogeneous transformation

p2 = homtrans(T, p) applies homogeneous transformation T to the points stored columnwise in p.

- If T is in SE(2) (3x3) and

- P is 2xN (2D points) they are considered Euclidean (R^2)
- P is 3xN (2D points) they are considered projective (P^2)

- If T is in SE(3) (4x4) and

- P is 3xN (3D points) they are considered Euclidean (R^3)
- P is 4xN (3D points) they are considered projective (P^3)

tp = homtrans(T, T1) applies homogeneous transformation T to the homogeneous transformation T1, that is tp=T*T1. If T1 is a 3-dimensional transformation then T is applied to each plane as defined by the first two

dimensions, ie. if T = NxN and T=NxNxP then the result is NxNxP.

## See also

e2h, h2e

© 1990-2014 Peter Corke.