pose_to_hom_mat3d — Convert a 3D pose into a homogeneous transformation matrix.
pose_to_hom_mat3d converts a 3D pose Pose, e.g., the external camera parameters, into the equivalent homogeneous transformation matrix HomMat3D. For details about 3D poses and the corresponding transformation matrices please refer to create_pose.
A typical application of pose_to_hom_mat3d is that you want to further transform the pose, e.g., rotate or translate it using hom_mat3d_rotate or hom_mat3d_translate. 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.
Number of elements: 7
Equivalent homogeneous transformation matrix.
* 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)
pose_to_hom_mat3d returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception is raised
affine_trans_point_3d, hom_mat3d_invert, hom_mat3d_translate, hom_mat3d_rotate, hom_mat3d_to_pose
create_pose, camera_calibration, write_pose, read_pose, hom_mat3d_to_pose, project_3d_point, get_line_of_sight, hom_mat3d_rotate, hom_mat3d_translate, hom_mat3d_invert, affine_trans_point_3d