Change the representation type of a 3D pose.
convert_pose_type converts the 3D pose PoseIn into a 3D pose PoseOut with a different representation type. See create_pose for details about 3D poses, their representation types, and the meaning of the parameters OrderOfTransform, OrderOfRotation, and ViewOfTransform.
Note that convert_pose_type only changes the representation of a 3D pose, but not the rigid transformation described by the pose.
|
PoseIn (input_control) |
pose-array -> real / integer |
| Original 3D pose. | |
| Number of elements: 7 | |
|
OrderOfTransform (input_control) |
string -> string |
| Order of rotation and translation. | |
| Default value: ''Rp+T'' | |
| Suggested values: ''Rp+T'', ''R(p-T)'' | |
|
OrderOfRotation (input_control) |
string -> string |
| Meaning of the rotation values. | |
| Default value: ''gba'' | |
| Suggested values: ''gba'', ''abg'', ''rodriguez'' | |
|
ViewOfTransform (input_control) |
string -> string |
| View of transformation. | |
| Default value: ''point'' | |
| Suggested values: ''point'', ''coordinate_system'' | |
|
PoseOut (output_control) |
pose-array -> real / integer |
| 3D transformation. | |
| Number of elements: 7 | |
* get pose (exterior camera parameters):
read_pose ('campose.dat', Pose)
* convert pose to a pose with desired semantic
convert_pose_type (Pose, 'Rp+T', 'abg', 'point', Pose2)convert_pose_type returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception handling is raised.
convert_pose_type is reentrant and processed without parallelization.
create_pose, hom_mat3d_to_pose, camera_calibration, hand_eye_calibration
create_pose, get_pose_type, write_pose, read_pose
Camera calibration
