read_poseT_read_poseReadPoseReadPoseread_pose (算子)
名称
read_poseT_read_poseReadPoseReadPoseread_pose — 从文本文件中读取三维姿态。
签名
def read_pose(pose_file: str) -> Sequence[Union[int, float]]
描述
read_poseread_poseReadPoseReadPoseReadPoseread_pose is used to read the 3D pose PosePosePosePoseposepose from
a text file with the name PoseFilePoseFilePoseFilePoseFileposeFilepose_file.
The default HALCON file extension for the 3D pose is 'dat'.
A pose describes a rigid 3D transformation, i.e., a transformation consisting
of an arbitrary translation and rotation, with 6 parameters, three for the
translation, three for the rotation. With a seventh parameter different pose
types can be indicated (see create_posecreate_poseCreatePoseCreatePoseCreatePosecreate_pose).
A suitable file can be generated by the operator write_posewrite_poseWritePoseWritePoseWritePosewrite_pose
and looks like the following:
# 3D POSE PARAMETERS: rotation and translation
# Used representation type:
f 0
# Rotation angles [deg] or Rodriguez-vector:
r -17.8134 1.83816 0.288092
# Translational vector (x y z [m]):
t 0.280164 0.150644 1.7554
执行信息
- 多线程类型：可重入（与非独占算子并行运行）。
- 多线程作用域：全局（可从任何线程调用）。
- 未采用并行化处理。
参数
PoseFilePoseFilePoseFilePoseFileposeFilepose_file (输入控制) filename.read → HTuplestrHTupleHtuple (string) (string) (HString) (char*)
File name of the external camera parameters.
默认值：
'campose.dat'
"campose.dat"
"campose.dat"
"campose.dat"
"campose.dat"
"campose.dat"
建议值：
'campose.dat'"campose.dat""campose.dat""campose.dat""campose.dat""campose.dat", 'campose_initial.dat'"campose_initial.dat""campose_initial.dat""campose_initial.dat""campose_initial.dat""campose_initial.dat", 'campose_final.dat'"campose_final.dat""campose_final.dat""campose_final.dat""campose_final.dat""campose_final.dat"
File extension:
.dat
PosePosePosePoseposepose (输出控制) pose → HPose, HTupleSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
3D pose.
元素数量：
7
结果
read_poseread_poseReadPoseReadPoseReadPoseread_pose returns 2 (
H_MSG_TRUE)
if all parameter values are
correct and the file has been read successfully。如有必要，则抛出异常。
可能的前趋
read_cam_parread_cam_parReadCamParReadCamParReadCamParread_cam_par
可能的后继
pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d,
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration,
disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab,
sim_caltabsim_caltabSimCaltabSimCaltabSimCaltabsim_caltab
另见
create_posecreate_poseCreatePoseCreatePoseCreatePosecreate_pose,
find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose,
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration,
disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab,
sim_caltabsim_caltabSimCaltabSimCaltabSimCaltabsim_caltab,
write_posewrite_poseWritePoseWritePoseWritePosewrite_pose,
pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d,
hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose
模块
基础