pycvcam.core.TransformComposition#

Note

See the main pycvcam.core.Transform documentation for more details on how to use transformations.

TransformComposition Class#

class TransformComposition(transforms)[source]#

A class to represent the composition of multiple transformations.

This class allows to compose multiple transformations together, applying them sequentially to the input points.

The composition of transformations is defined as follows:

\[T_{\text{composed}} = T_n \circ T_{n-1} \circ ... \circ T_2 \circ T_1\]

where \(T_i\) are the individual transformations and \(T_{\text{composed}}\) is the resulting composed transformation.

The parameters and constants of the composed transformation are the concatenation of the parameters and constants of the individual transformations.

The Jacobian matrices of the composed transformation can be computed using the chain rule of differentiation, taking into account the Jacobian matrices of the individual transformations.

Parameters:

transforms (List[Transform]) – A list of Transform objects to be composed together. The transformations will be applied in the order they are listed.

Performing transformations with TransformComposition objects#

TransformComposition._transform(points, *[, ...])

Apply the composed transformation to the given points.

TransformComposition._inverse_transform(...)

Apply the inverse of the composed transformation to the given points.