Compose Homogeneous Transforms

Problem

Compose two 3x3 homogeneous transforms by matrix multiplication: result = T1 * T2.

Since vectors are transformed as T*v, the transform T2 is applied first, then T1.

Hint

Transform composition is ordinary 3x3 matrix multiplication.

case 1

in: [[[1,0,2],[0,1,3],[0,0,1]],[[1,0,1],[0,1,1],[0,0,1]]]

expected: [[1,0,3],[0,1,4],[0,0,1]]

case 2

in: [[[2,0,0],[0,3,0],[0,0,1]],[[1,0,1],[0,1,2],[0,0,1]]]

expected: [[2,0,2],[0,3,6],[0,0,1]]

case 3

in: [[[1,0,0],[0,1,0],[0,0,1]],[[1,0,5],[0,1,7],[0,0,1]]]

expected: [[1,0,5],[0,1,7],[0,0,1]]

case 4

in: [[[1,2,3],[4,5,6],[7,8,9]],[[1,0,0],[0,1,0],[0,0,1]]]

expected: [[1,2,3],[4,5,6],[7,8,9]]

Starter codePython

def compose_homogeneous(T1, T2):
    # Your code here
    pass

4 test cases · run your code against them in the editor