pose_compose — Combine 3D poses given in two tuples.
pose_compose combines the poses in the tuples, PoseLeft and PoseRight. If both tuples contain the same number of poses, the corresponding elements of both tuples are composed. Otherwise, either tuple PoseLeft or PoseRight must contain only one pose. In this case, the composition is performed for each pose of the longer tuple with the single pose of the other tuple. For each composition, the poses are interpreted as transformations of coordinate systems. The poses in tuple PoseCompose are therefore the result of applying the corresponding poses in PoseLeft and PoseRight in sequence.
First, the respective poses in PoseLeft and PoseRight are transformed into the corresponding homogeneous transformation matrices H1 and H2. H1 is then multiplied with H2. The resulting matrix H1* H2 is converted into a pose and returned at the corresponding index in tuple PoseCompose.
If the respective poses in PoseLeft and PoseRight have different types, the default pose type 0 ('Rp+T', 'gba', 'point') is returned. Otherwise, the returned poses have the same types as the poses used for their composition.
Tuple containing the left poses.
Tuple containing the right poses.
Tuple containing the returned poses.
pose_compose returns 2 (H_MSG_TRUE) if all parameters are valid. If necessary, an exception is raised.
read_pose, hom_mat3d_to_pose, create_pose, convert_pose_type, pose_invert
pose_to_hom_mat3d, hom_mat3d_to_pose, hom_mat3d_compose