1## Copyright (C) 2021 David Legland 2## All rights reserved. 3## 4## Redistribution and use in source and binary forms, with or without 5## modification, are permitted provided that the following conditions are met: 6## 7## 1 Redistributions of source code must retain the above copyright notice, 8## this list of conditions and the following disclaimer. 9## 2 Redistributions in binary form must reproduce the above copyright 10## notice, this list of conditions and the following disclaimer in the 11## documentation and/or other materials provided with the distribution. 12## 13## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS'' 14## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 15## IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 16## ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR 17## ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 18## DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 19## SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 20## CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 21## OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 22## OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 23## 24## The views and conclusions contained in the software and documentation are 25## those of the authors and should not be interpreted as representing official 26## policies, either expressed or implied, of the copyright holders. 27 28function trans = composeTransforms3d(varargin) 29%COMPOSETRANSFORMS3D Concatenate several space transformations. 30% 31% TRANS = composeTransforms3d(TRANS1, TRANS2, ...); 32% Computes the affine transform equivalent to performing successively 33% TRANS1, TRANS2, ... 34% 35% Example: 36% PTS = rand(20, 3); 37% ROT1 = createRotationOx(pi/3); 38% ROT2 = createRotationOy(pi/4); 39% ROT3 = createRotationOz(pi/5); 40% ROTS = composeTransforms3d(ROT1, ROT2, ROT3); 41% Then: 42% PTS2 = transformPoint3d(PTS, ROTS); 43% will give the same result as: 44% PTS3 = transformPoint3d(transformPoint3d(transformPoint3d(PTS, ... 45% ROT1), ROT2), ROT3); 46% 47% See also: 48% transforms3d, transformPoint3d 49% 50% --------- 51% 52% author : David Legland 53% INRA - TPV URPOI - BIA IMASTE 54% created the 29/29/2006. 55% 56 57trans = varargin{nargin}; 58for i=length(varargin)-1:-1:1 59 trans = trans * varargin{i}; 60end 61