set_origin_poseT_set_origin_poseSetOriginPoseSetOriginPoseset_origin_pose (算子)

名称

set_origin_poseT_set_origin_poseSetOriginPoseSetOriginPoseset_origin_pose — 平移三维姿态的原点。

签名

描述

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.

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

结果

set_origin_poseset_origin_poseSetOriginPoseSetOriginPoseSetOriginPoseset_origin_pose returns 2 ( H_MSG_TRUE) if all parameter values are correct。如有必要，则抛出异常。

可能的前趋

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

可能的后继

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

另见

hom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocalHomMat3dTranslateLocalhom_mat3d_translate_local

模块

基础