trans_pose_shape_model_3d — Transform a pose that refers to the coordinate system of a 3D object
model to a pose that refers to the reference coordinate system of a
3D shape model and vice versa.
trans_pose_shape_model_3d( : : ShapeModel3DID, PoseIn, Transformation : PoseOut)
The operator trans_pose_shape_model_3d transforms the pose
PoseIn into the pose PoseOut by using the
transformation direction specified in Transformation. In
the majority of cases, the operator will be used to transform a
camera pose that is given relative to the source coordinate
system to a camera pose that refers to the target coordinate system.
The pose can be transformed between two coordinate systems. The
first coordinate system is the reference coordinate system of the 3D
shape model (ref) that is passed in ShapeModel3DID.
The origin of the reference coordinate system lies at the reference point
of the underlying 3D object model. The orientation of the reference
coordinate system is determined by the reference orientation that
was specified when creating the 3D shape model with
create_shape_model_3d.
The second coordinate system is the world coordinate system, i.e.,
the coordinate system of the 3D object model (mcs) that underlies
the 3D shape model. This coordinate system is implicitly determined by the
coordinates that are stored in the CAD file that was read by using
read_object_model_3d.
If Transformation is set to 'ref_to_model', it is
assumed that PoseIn refers to the reference coordinate
system of the 3D shape model. Thus, PoseIn is
, where
cs denotes the coordinate system the input pose transforms into
(e.g., the camera coordinate system). For further information we refer to
Transformations / Poses
and “Solution Guide III-C - 3D Vision”.
The resulting output pose PoseOut in this case refers to the
coordinate system of the 3D object model, thus
.
If Transformation is set to 'model_to_ref', it is
assumed that PoseIn refers to the coordinate system of the
3D object model, .
The resulting output pose PoseOut in this
case refers to the reference coordinate system of the 3D shape
model, thus .
The relative pose of the two coordinate systems can be queried by
passing 'reference_pose' for GenParamName in the
operator get_shape_model_3d_params.
ShapeModel3DID (input_control) shape_model_3d → (handle)
Handle of the 3D shape model.
PoseIn (input_control) pose → (real / integer)
Pose to be transformed in the source system.
Transformation (input_control) string → (string)
Direction of the transformation.
Default: 'ref_to_model'
List of values: 'model_to_ref', 'ref_to_model'
PoseOut (output_control) pose → (real / integer)
Transformed 3D pose in the target system.
If the parameters are valid, the operator
trans_pose_shape_model_3d returns the value 2 (
H_MSG_TRUE)
. If
necessary an exception is raised.
hom_mat3d_translate,
hom_mat3d_rotate
3D Metrology