pose_to_hom_mat3dT_pose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d (Operator)

Name

pose_to_hom_mat3dT_pose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d — Convert a 3D pose into a homogeneous transformation matrix.

Signature

pose_to_hom_mat3d( : : Pose : HomMat3D)

pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3d converts a 3D pose PosePosePosePosepose, e.g., the external camera parameters, into the equivalent homogeneous transformation matrix HomMat3DHomMat3DHomMat3DHomMat3DhomMat3D. For details about 3D poses and the corresponding transformation matrices please refer to create_posecreate_poseCreatePoseCreatePoseCreatePose.

A typical application of pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3d is that you want to further transform the pose, e.g., rotate or translate it using hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotate or hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslateHomMat3dTranslate. In case of the external camera parameters, this can be necessary if the calibration plate cannot be placed such that its coordinate system coincides with the desired world coordinate system.

Execution Information

Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
Processed without parallelization.

Parameters

PosePosePosePosepose (input_control) pose → (real / integer)

3D pose.

Number of elements: 7

HomMat3DHomMat3DHomMat3DHomMat3DhomMat3D (output_control) hom_mat3d → (real)

Equivalent homogeneous transformation matrix.

Example (HDevelop)

* 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)

Result

pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3d returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception is raised