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

read_poseT_read_poseread_poseReadPoseReadPose (Operator)

Name

read_poseT_read_poseread_poseReadPoseReadPose — Read a 3D pose from a text file.

Signature

read_pose( : : PoseFile : Pose)

Herror T_read_pose(const Htuple PoseFile, Htuple* Pose)

Herror read_pose(const HTuple& PoseFile, HTuple* Pose)

void HOperatorSetX.ReadPose(
[in] VARIANT PoseFile, [out] VARIANT* Pose)

VARIANT HPoseX.ReadPose([in] BSTR PoseFile)

static void HOperatorSet.ReadPose(HTuple poseFile, out HTuple pose)

void HPose.ReadPose(string poseFile)

Description

read_poseread_poseread_poseReadPoseReadPose is used to read the 3D pose PosePosePosePosepose from a text file with the name PoseFilePoseFilePoseFilePoseFileposeFile. The default HALCON file extension for the 3D pose is 'dat'.

A pose describes a rigid 3D transformation, i.e., a transformation consisting of an arbitrary translation and rotation, with 6 parameters, three for the translation, three for the rotation. With a seventh parameter different pose types can be indicated (see create_posecreate_posecreate_poseCreatePoseCreatePose).

A suitable file can be generated by the operator write_posewrite_posewrite_poseWritePoseWritePose and looks like the following: 

  # 3D POSE PARAMETERS: rotation and translation

  # Used representation type:
  f 0

  # Rotation angles [deg] or Rodriguez-vector:
  r -17.8134 1.83816 0.288092

  # Translational vector (x y z [m]):
  t 0.280164 0.150644 1.7554

Parallelization

Parameters

PoseFilePoseFilePoseFilePoseFileposeFile (input_control)  filename.read → HTupleHTupleVARIANTHtuple (string) (string) (char*) (BSTR) (char*)

File name of the external camera parameters.

Default value: 'campose.dat' "campose.dat" "campose.dat" "campose.dat" "campose.dat"

Suggested values: 'campose.dat'"campose.dat""campose.dat""campose.dat""campose.dat", 'campose_initial.dat'"campose_initial.dat""campose_initial.dat""campose_initial.dat""campose_initial.dat", 'campose_final.dat'"campose_final.dat""campose_final.dat""campose_final.dat""campose_final.dat"

File extension: .dat

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

3D pose.

Number of elements: 7

Result

read_poseread_poseread_poseReadPoseReadPose returns 2 (H_MSG_TRUE) if all parameter values are correct and the file has been read successfully. If necessary an exception is raised.

Possible Predecessors

read_cam_parread_cam_parread_cam_parReadCamParReadCamPar

Possible Successors

pose_to_hom_mat3dpose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d, camera_calibrationcamera_calibrationcamera_calibrationCameraCalibrationCameraCalibration, disp_caltabdisp_caltabdisp_caltabDispCaltabDispCaltab, sim_caltabsim_caltabsim_caltabSimCaltabSimCaltab

See also

create_posecreate_posecreate_poseCreatePoseCreatePose, find_marks_and_posefind_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPose, camera_calibrationcamera_calibrationcamera_calibrationCameraCalibrationCameraCalibration, disp_caltabdisp_caltabdisp_caltabDispCaltabDispCaltab, sim_caltabsim_caltabsim_caltabSimCaltabSimCaltab, write_posewrite_posewrite_poseWritePoseWritePose, pose_to_hom_mat3dpose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d, hom_mat3d_to_posehom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose

Module

Foundation

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