# Copyright 2021 Dice Finding Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
"""Utility for transforming points by a 4x4 transformation matrix operating in homogeneous space."""

import numpy as np
import ProjectionUtil

def transform_points_3d(points : np.ndarray, transformation :  np.ndarray, at_infinity : bool):
    """Transform 3D points using a 4x4 transformation matrix."""
    points_h = ProjectionUtil.to_homogeneous(points, at_infinity)
    points_transformed_h = transformation @ points_h
    points_transformed = points_transformed_h[:-1,...]
    return points_transformed