set_origin_poseT_set_origin_poseSetOriginPoseSetOriginPose (Operator)

Name

set_origin_poseT_set_origin_poseSetOriginPoseSetOriginPose — Translate the origin of a 3D pose.

Signature

set_origin_pose( : : PoseIn, DX, DY, DZ : PoseNewOrigin)

set_origin_poseset_origin_poseSetOriginPoseSetOriginPoseSetOriginPose translates the origin of the 3D pose PoseInPoseInPoseInPoseInposeIn by the vector given by DXDXDXDXDX, DYDYDYDYDY, and DZDZDZDZDZ and returns the result in PoseNewOriginPoseNewOriginPoseNewOriginPoseNewOriginposeNewOrigin. Note that the translation is performed relative to the local coordinate system of the pose itself. For example, if PoseInPoseInPoseInPoseInposeIn describes the pose of an object in camera coordinates, PoseNewOriginPoseNewOriginPoseNewOriginPoseNewOriginposeNewOrigin is obtained by translating the object's coordinate system by DXDXDXDXDX 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_poseSetOriginPoseSetOriginPoseSetOriginPose is a shortcut for the following sequence of operator calls:

  pose_to_hom_mat3d (PoseIn, HomMat3DIn)
  hom_mat3d_translate_local (HomMat3DIn, DX, DY, DZ, HomMat3DNewOrigin)
  hom_mat3d_to_pose (HomMat3DNewOrigin, PoseNewOrigin)

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_calibrationCameraCalibrationCameraCalibrationCameraCalibration 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_poseSetOriginPoseSetOriginPoseSetOriginPose with the translation vector (0,0,D), where D is the thickness of the calibration plate.

Execution Information

Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
Processed without parallelization.

Parameters

PoseInPoseInPoseInPoseInposeIn (input_control) pose → (real / integer)

original 3D pose.

Number of elements: 7

DXDXDXDXDX (input_control) real → (real)

translation of the origin in x-direction.

Default value: 0

DYDYDYDYDY (input_control) real → (real)

translation of the origin in y-direction.

Default value: 0

DZDZDZDZDZ (input_control) real → (real)

translation of the origin in z-direction.

Default value: 0

PoseNewOriginPoseNewOriginPoseNewOriginPoseNewOriginposeNewOrigin (output_control) pose → (real / integer)

new 3D pose after applying the translation.

Number of elements: 7

Result

set_origin_poseset_origin_poseSetOriginPoseSetOriginPoseSetOriginPose returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception is raised.