write_poseT_write_poseWritePoseWritePose (Operator)

Name

write_poseT_write_poseWritePoseWritePose — Write a 3D pose to a text file.

Signature

Description

write_posewrite_poseWritePoseWritePoseWritePose is used to write a 3D pose PosePosePosePosepose into a text file with the name PoseFilePoseFilePoseFilePoseFileposeFile. 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_poseCreatePoseCreatePoseCreatePose).

A file generated by write_posewrite_poseWritePoseWritePoseWritePose 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

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

Example (HDevelop)

* Perform hand-eye calibration.
calibrate_hand_eye (CalibDataID, Errors)
* Query the camera parameters and the poses.
get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
* Get poses computed by the hand eye calibration.
get_calib_data (CalibDataID, 'camera', 0, 'base_in_cam_pose', BaseInCamPose)
get_calib_data (CalibDataID, 'calib_obj', 0,\
                'obj_in_tool_pose', ObjInToolPose)
* Store the camera parameters to file.
write_cam_par (CamParam, DataNameStart + 'final_campar.dat')
* Save the hand eye calibration results to file.
write_pose (BaseInCamPose, DataNameStart + 'final_pose_cam_base.dat')
write_pose (ObjInToolPose, DataNameStart + 'final_pose_tool_calplate.dat')

Result

write_posewrite_poseWritePoseWritePoseWritePose returns 2 (H_MSG_TRUE) if all parameter values are correct and the file has been written successfully. If necessary an exception is raised.

Possible Predecessors

camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibration, get_calib_dataget_calib_dataGetCalibDataGetCalibDataGetCalibData, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPose

See also

create_posecreate_poseCreatePoseCreatePoseCreatePose, find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPose, camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibration, disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltab, sim_caltabsim_caltabSimCaltabSimCaltabSimCaltab, read_poseread_poseReadPoseReadPoseReadPose, pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3d, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPose

Module

Foundation