Homogeneous transform
Also: rigid transform, transformation matrix
A matrix combining rotation and translation between coordinate frames.
A 4×4 SE(3) transform composes frame changes by matrix multiplication; order and direction are essential.
- Formula
T = [[R,p],[0,1]]
Example T_world_body T_body_camera maps camera coordinates into the world convention.
Common misconception Transform multiplication is not commutative, so reversing order changes meaning.