transformations.py 文件源码

def transformPoint3D(pt, M):
    """
    Transform point in 3D coordinates
    :param pt: point coordinates
    :param M: transformation matrix
    :return: transformed point
    """
    pt3 = numpy.asmatrix(M.reshape((4, 4))) * numpy.matrix([pt[0], pt[1], pt[2], 1]).T
    return numpy.array([pt3[0] / pt3[3], pt3[1] / pt3[3], pt3[2] / pt3[3]])