HALCON Reference Manual 10.0.2
Table of Contents / Transformations / Poses ClassesClassesClasses | | | Operators

convert_pose_typeT_convert_pose_typeconvert_pose_typeConvertPoseTypeConvertPoseType (Operator)

Name

convert_pose_typeT_convert_pose_typeconvert_pose_typeConvertPoseTypeConvertPoseType — Change the representation type of a 3D pose.

Signature

convert_pose_type( : : PoseIn, OrderOfTransform, OrderOfRotation, ViewOfTransform : PoseOut)

Herror T_convert_pose_type(const Htuple PoseIn, const Htuple OrderOfTransform, const Htuple OrderOfRotation, const Htuple ViewOfTransform, Htuple* PoseOut)

Herror convert_pose_type(const HTuple& PoseIn, const HTuple& OrderOfTransform, const HTuple& OrderOfRotation, const HTuple& ViewOfTransform, HTuple* PoseOut)

void HOperatorSetX.ConvertPoseType(
[in] VARIANT PoseIn, [in] VARIANT OrderOfTransform, [in] VARIANT OrderOfRotation, [in] VARIANT ViewOfTransform, [out] VARIANT* PoseOut)

VARIANT HPoseX.ConvertPoseType(
[in] VARIANT PoseIn, [in] BSTR OrderOfTransform, [in] BSTR OrderOfRotation, [in] BSTR ViewOfTransform)

static void HOperatorSet.ConvertPoseType(HTuple poseIn, HTuple orderOfTransform, HTuple orderOfRotation, HTuple viewOfTransform, out HTuple poseOut)

HPose HPose.ConvertPoseType(string orderOfTransform, string orderOfRotation, string viewOfTransform)

Description

convert_pose_typeconvert_pose_typeconvert_pose_typeConvertPoseTypeConvertPoseType converts the 3D pose PoseInPoseInPoseInPoseInposeIn into a 3D pose PoseOutPoseOutPoseOutPoseOutposeOut with a different representation type. See create_posecreate_posecreate_poseCreatePoseCreatePose for details about 3D poses, their representation types, and the meaning of the parameters OrderOfTransformOrderOfTransformOrderOfTransformOrderOfTransformorderOfTransform, OrderOfRotationOrderOfRotationOrderOfRotationOrderOfRotationorderOfRotation, and ViewOfTransformViewOfTransformViewOfTransformViewOfTransformviewOfTransform.

Note that convert_pose_typeconvert_pose_typeconvert_pose_typeConvertPoseTypeConvertPoseType only changes the representation of a 3D pose, but not the rigid transformation described by the pose.

Parallelization

Parameters

PoseInPoseInPoseInPoseInposeIn (input_control)  pose-array → HPose, HTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)

Original 3D pose.

Number of elements: 7

OrderOfTransformOrderOfTransformOrderOfTransformOrderOfTransformorderOfTransform (input_control)  string → HTupleHTupleVARIANTHtuple (string) (string) (char*) (BSTR) (char*)

Order of rotation and translation.

Default value: 'Rp+T' "Rp+T" "Rp+T" "Rp+T" "Rp+T"

Suggested values: 'Rp+T'"Rp+T""Rp+T""Rp+T""Rp+T", 'R(p-T)'"R(p-T)""R(p-T)""R(p-T)""R(p-T)"

OrderOfRotationOrderOfRotationOrderOfRotationOrderOfRotationorderOfRotation (input_control)  string → HTupleHTupleVARIANTHtuple (string) (string) (char*) (BSTR) (char*)

Meaning of the rotation values.

Default value: 'gba' "gba" "gba" "gba" "gba"

Suggested values: 'gba'"gba""gba""gba""gba", 'abg'"abg""abg""abg""abg", 'rodriguez'"rodriguez""rodriguez""rodriguez""rodriguez"

ViewOfTransformViewOfTransformViewOfTransformViewOfTransformviewOfTransform (input_control)  string → HTupleHTupleVARIANTHtuple (string) (string) (char*) (BSTR) (char*)

View of transformation.

Default value: 'point' "point" "point" "point" "point"

Suggested values: 'point'"point""point""point""point", 'coordinate_system'"coordinate_system""coordinate_system""coordinate_system""coordinate_system"

PoseOutPoseOutPoseOutPoseOutposeOut (output_control)  pose-array → HPose, HTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)

3D transformation.

Number of elements: 7

Example (HDevelop)

*  get pose (external camera parameters):
read_pose ('campose.dat', Pose)
*  convert pose to a pose with desired semantic
convert_pose_type (Pose, 'Rp+T', 'abg', 'point', Pose2)

Example (HDevelop)

*  get pose (external camera parameters):
read_pose ('campose.dat', Pose)
*  convert pose to a pose with desired semantic
convert_pose_type (Pose, 'Rp+T', 'abg', 'point', Pose2)

Example (C++)

HTuple Pose, Pose2;
// get pose (external camera parameters):
read_pose ("campose.dat", &Pose) ;
// convert pose to a pose with desired semantic
convert_pose_type ( Pose, "Rp+T", "abg", "point", &Pose2);

Example (HDevelop)

*  get pose (external camera parameters):
read_pose ('campose.dat', Pose)
*  convert pose to a pose with desired semantic
convert_pose_type (Pose, 'Rp+T', 'abg', 'point', Pose2)

Example (HDevelop)

*  get pose (external camera parameters):
read_pose ('campose.dat', Pose)
*  convert pose to a pose with desired semantic
convert_pose_type (Pose, 'Rp+T', 'abg', 'point', Pose2)

Result

convert_pose_typeconvert_pose_typeconvert_pose_typeConvertPoseTypeConvertPoseType returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception is raised.

Possible Predecessors

create_posecreate_posecreate_poseCreatePoseCreatePose, hom_mat3d_to_posehom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose, camera_calibrationcamera_calibrationcamera_calibrationCameraCalibrationCameraCalibration, hand_eye_calibrationhand_eye_calibrationhand_eye_calibrationHandEyeCalibrationHandEyeCalibration

Possible Successors

write_posewrite_posewrite_poseWritePoseWritePose

See also

create_posecreate_posecreate_poseCreatePoseCreatePose, get_pose_typeget_pose_typeget_pose_typeGetPoseTypeGetPoseType, write_posewrite_posewrite_poseWritePoseWritePose, read_poseread_poseread_poseReadPoseReadPose

Module

Foundation

Table of Contents / Transformations / Poses ClassesClassesClasses | | | Operators
HALCON Reference Manual 10.0.2 Copyright © 1996-2011 MVTec Software GmbH