hom_mat3d_to_pose — Convert a homogeneous transformation matrix into a 3D pose.
hom_mat3d_to_pose converts a homogeneous transformation matrix into the corresponding 3D pose with type code 0. For details about 3D poses and the corresponding transformation matrices please refer to create_pose.
A typical application of hom_mat3d_to_pose is that a 3D pose was converted into a homogeneous transformation matrix to further transform it, e.g., with hom_mat3d_rotate or hom_mat3d_translate, and now must be converted back into a pose to use it as input for operators like image_points_to_world_plane.
hom_mat3d_to_pose only supports rigid transformations in HomMat3D.
Homogeneous transformation matrix.
Equivalent 3D pose.
Number of elements: 7
camera_calibration(WorldPointsX, WorldPointsY, WorldPointsZ, \ PixelsRow, PixelsColumn, CameraParam, StartPose,6, \ FinalCamParam, FinalPose, Errors) * transform FinalPose to homogeneous transformation matrix pose_to_hom_mat3d(FinalPose, cam_H_cal) * rotate it 90 degree around the 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) * transform back to pose hom_mat3d_to_pose(cam_H_w, cam_P_w) * use pose to transform an image point into the world coordinate system image_points_to_world_plane(FinalCamParam, cam_P_w, 87, 23.5, 1, \ w_px, w_py)
hom_mat3d_to_pose returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception is raised
hom_mat3d_rotate, hom_mat3d_translate, hom_mat3d_invert
camera_calibration, write_pose, disp_caltab, sim_caltab
create_pose, camera_calibration, disp_caltab, sim_caltab, write_pose, read_pose, pose_to_hom_mat3d, project_3d_point, get_line_of_sight, hom_mat3d_rotate, hom_mat3d_translate, hom_mat3d_invert, affine_trans_point_3d