set_origin_poseT_set_origin_poseSetOriginPoseSetOriginPoseset_origin_pose (Operator)

Name

set_origin_poseT_set_origin_poseSetOriginPoseSetOriginPoseset_origin_pose — Translate the origin of a 3D pose.

Signature

Description

set_origin_poseset_origin_poseSetOriginPoseSetOriginPoseSetOriginPoseset_origin_pose translates the origin of the 3D pose PoseInPoseInPoseInPoseInposeInpose_in by the vector given by DXDXDXDXDXdx, DYDYDYDYDYdy, and DZDZDZDZDZdz and returns the result in PoseNewOriginPoseNewOriginPoseNewOriginPoseNewOriginposeNewOriginpose_new_origin. Note that the translation is performed relative to the local coordinate system of the pose itself. For example, if PoseInPoseInPoseInPoseInposeInpose_in describes the pose of an object in camera coordinates, PoseNewOriginPoseNewOriginPoseNewOriginPoseNewOriginposeNewOriginpose_new_origin is obtained by translating the object's coordinate system by DXDXDXDXDXdx along its own x-axis (and so on for the other axes) and not along the x-axis of the camera coordinate system. This corresponds to the following chain of transformations:

Thus, set_origin_poseset_origin_poseSetOriginPoseSetOriginPoseSetOriginPoseset_origin_pose is a shortcut for the following sequence of operator calls:

A typical application of this operator when defining a world coordinate system by placing the standard calibration plate on the plane of measurements. In this case, the external camera parameters returned by camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration correspond to a coordinate system that lies above the measurement plane, because the coordinate system of the calibration plate is located on its surface and the plate has a certain thickness. To correct the pose, call set_origin_poseset_origin_poseSetOriginPoseSetOriginPoseSetOriginPoseset_origin_pose with the translation vector (0,0,D), where D is the thickness of the calibration plate.

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

Result

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

Possible Predecessors

create_posecreate_poseCreatePoseCreatePoseCreatePosecreate_pose, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose, camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration, hand_eye_calibrationhand_eye_calibrationHandEyeCalibrationHandEyeCalibrationHandEyeCalibrationhand_eye_calibration

Possible Successors

write_posewrite_poseWritePoseWritePoseWritePosewrite_pose, pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d, image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlaneImagePointsToWorldPlaneimage_points_to_world_plane, contour_to_world_plane_xldcontour_to_world_plane_xldContourToWorldPlaneXldContourToWorldPlaneXldContourToWorldPlaneXldcontour_to_world_plane_xld

See also

hom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocalHomMat3dTranslateLocalhom_mat3d_translate_local

Module

Foundation