Name
pose_to_hom_mat3dT_pose_to_hom_mat3dPoseToHomMat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d — Convert a 3D pose into a homogeneous transformation matrix.
Herror T_pose_to_hom_mat3d(const Htuple Pose, Htuple* HomMat3D)
Herror pose_to_hom_mat3d(const HTuple& Pose, HTuple* HomMat3D)
pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d converts a 3D pose PosePosePosePosePosepose,
e.g., the external camera parameters, into the
equivalent homogeneous transformation matrix HomMat3DHomMat3DHomMat3DHomMat3DHomMat3DhomMat3D. For details
about 3D poses and the corresponding transformation matrices please refer to
create_posecreate_poseCreatePosecreate_poseCreatePoseCreatePose.
A typical application of pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d is that you want
to further transform the pose, e.g., rotate or translate it using
hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate or hom_mat3d_translatehom_mat3d_translateHomMat3dTranslatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate. In case of the
external camera parameters, this can be necessary if the calibration plate
cannot be placed such that its coordinate system coincides with the desired
world coordinate system.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
3D pose.
Number of elements: 7
Equivalent homogeneous transformation matrix.
* Calibrate camera.
calibrate_cameras (CalibDataID,Error)
* Get reference pose (pose 2 of calibration object 0).
get_calib_data (CalibDataID, 'calib_obj_pose',\
[0,2], 'pose', ObjInCameraPose)
* Convert pose to homogeneous transformation matrix.
pose_to_hom_mat3d(ObjInCameraPose, cam_H_cal)
* Rotate it 90 degrees around its y-axis to obtain a world coordinate system
* whose y- and z-axis lie in the plane of the calibration plate while the
* x-axis point 'upwards': cam_H_w = cam_H_cal * RotY(90).
hom_mat3d_identity(HomMat3DIdent)
hom_mat3d_rotate(HomMat3DIdent, rad(90), 'y', 0, 0, 0, \
HomMat3DRotateY)
hom_mat3d_compose(cam_H_cal, HomMat3DRotateY, cam_H_w)
* Convert transformed matrix back to pose.
hom_mat3d_to_pose (cam_H_w, Pose)
pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d returns 2 (H_MSG_TRUE) if all parameter values are
correct. If necessary, an exception is raised
camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration,
read_poseread_poseReadPoseread_poseReadPoseReadPose
affine_trans_point_3daffine_trans_point_3dAffineTransPoint3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3d,
hom_mat3d_inverthom_mat3d_invertHomMat3dInverthom_mat3d_invertHomMat3dInvertHomMat3dInvert,
hom_mat3d_translatehom_mat3d_translateHomMat3dTranslatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate,
hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate,
hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPosehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose
pose_to_dual_quatpose_to_dual_quatPoseToDualQuatpose_to_dual_quatPoseToDualQuatPoseToDualQuat
create_posecreate_poseCreatePosecreate_poseCreatePoseCreatePose,
camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration,
write_posewrite_poseWritePosewrite_poseWritePoseWritePose,
read_poseread_poseReadPoseread_poseReadPoseReadPose,
hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPosehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose,
project_3d_pointproject_3d_pointProject3dPointproject_3d_pointProject3dPointProject3dPoint,
get_line_of_sightget_line_of_sightGetLineOfSightget_line_of_sightGetLineOfSightGetLineOfSight,
hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate,
hom_mat3d_translatehom_mat3d_translateHomMat3dTranslatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate,
hom_mat3d_inverthom_mat3d_invertHomMat3dInverthom_mat3d_invertHomMat3dInvertHomMat3dInvert,
affine_trans_point_3daffine_trans_point_3dAffineTransPoint3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3d
Foundation