Name
hom_mat3d_to_poseT_hom_mat3d_to_poseHomMat3dToPosehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose — Convert a homogeneous transformation matrix into a 3D pose.
Herror T_hom_mat3d_to_pose(const Htuple HomMat3D, Htuple* Pose)
Herror hom_mat3d_to_pose(const HTuple& HomMat3D, HTuple* Pose)
hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPosehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose 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_posecreate_poseCreatePosecreate_poseCreatePoseCreatePose.
A typical application of hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPosehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose is that a 3D pose was
converted into a homogeneous transformation matrix to further transform it,
e.g., with hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate or hom_mat3d_translatehom_mat3d_translateHomMat3dTranslatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate, and now
must be converted back into a pose to use it as input for operators like
image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane.
hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPosehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose only supports rigid transformations in
HomMat3DHomMat3DHomMat3DHomMat3DHomMat3DhomMat3D.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
Homogeneous transformation matrix.
Equivalent 3D pose.
Number of elements: 7
* 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)
hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPosehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose returns 2 (H_MSG_TRUE) if all parameter values are
correct. If necessary, an exception is raised
hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotate,
hom_mat3d_translatehom_mat3d_translateHomMat3dTranslatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslate,
hom_mat3d_inverthom_mat3d_invertHomMat3dInverthom_mat3d_invertHomMat3dInvertHomMat3dInvert
camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration,
write_posewrite_poseWritePosewrite_poseWritePoseWritePose,
disp_caltabdisp_caltabDispCaltabdisp_caltabDispCaltabDispCaltab,
sim_caltabsim_caltabSimCaltabsim_caltabSimCaltabSimCaltab
create_posecreate_poseCreatePosecreate_poseCreatePoseCreatePose,
camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration,
disp_caltabdisp_caltabDispCaltabdisp_caltabDispCaltabDispCaltab,
sim_caltabsim_caltabSimCaltabsim_caltabSimCaltabSimCaltab,
write_posewrite_poseWritePosewrite_poseWritePoseWritePose,
read_poseread_poseReadPoseread_poseReadPoseReadPose,
pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d,
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