trans_pose_shape_model_3dT_trans_pose_shape_model_3dTransPoseShapeModel3dTransPoseShapeModel3dtrans_pose_shape_model_3d (算子)

名称

trans_pose_shape_model_3dT_trans_pose_shape_model_3dTransPoseShapeModel3dTransPoseShapeModel3dtrans_pose_shape_model_3d — 将涉及三维对象模型的坐标系的姿态变换为涉及三维形状模型的参考坐标系的姿态，反之亦然。

签名

描述

算子 trans_pose_shape_model_3dtrans_pose_shape_model_3dTransPoseShapeModel3dTransPoseShapeModel3dTransPoseShapeModel3dtrans_pose_shape_model_3d transforms the pose PoseInPoseInPoseInPoseInposeInpose_in into the pose PoseOutPoseOutPoseOutPoseOutposeOutpose_out by using the transformation direction specified in TransformationTransformationTransformationTransformationtransformationtransformation. 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 ShapeModel3DIDShapeModel3DIDShapeModel3DIDShapeModel3DIDshapeModel3DIDshape_model_3did. 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_3dcreate_shape_model_3dCreateShapeModel3dCreateShapeModel3dCreateShapeModel3dcreate_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_3dread_object_model_3dReadObjectModel3dReadObjectModel3dReadObjectModel3dread_object_model_3d。

If TransformationTransformationTransformationTransformationtransformationtransformation is set to 'ref_to_model'"ref_to_model""ref_to_model""ref_to_model""ref_to_model""ref_to_model", it is assumed that PoseInPoseInPoseInPoseInposeInpose_in refers to the reference coordinate system of the 3D shape model. Thus, PoseInPoseInPoseInPoseInposeInpose_in 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 PoseOutPoseOutPoseOutPoseOutposeOutpose_out in this case refers to the coordinate system of the 3D object model, thus 。

If TransformationTransformationTransformationTransformationtransformationtransformation is set to 'model_to_ref'"model_to_ref""model_to_ref""model_to_ref""model_to_ref""model_to_ref", it is assumed that PoseInPoseInPoseInPoseInposeInpose_in refers to the coordinate system of the 3D object model, . The resulting output pose PoseOutPoseOutPoseOutPoseOutposeOutpose_out 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'"reference_pose""reference_pose""reference_pose""reference_pose""reference_pose" for GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name in the operator get_shape_model_3d_paramsget_shape_model_3d_paramsGetShapeModel3dParamsGetShapeModel3dParamsGetShapeModel3dParamsget_shape_model_3d_params。

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

如果参数有效，算子 trans_pose_shape_model_3dtrans_pose_shape_model_3dTransPoseShapeModel3dTransPoseShapeModel3dTransPoseShapeModel3dtrans_pose_shape_model_3d 返回值 2 ( H_MSG_TRUE )。如有必要，则抛出异常。

可能的前趋

find_shape_model_3dfind_shape_model_3dFindShapeModel3dFindShapeModel3dFindShapeModel3dfind_shape_model_3d

替代

hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate

模块

三维计量