Poses

List of Operators ↓

A pose describes a rigid 3D transformation, i.e., a transformation consisting of an arbitrary translation and rotation. In HALCON, a pose is a tuple with 7 parameters: 3 parameters specifying the translation (TransXTransXTransXTransXtransX, TransYTransYTransYTransYtransY, and TransZTransZTransZTransZtransZ), 3 parameters describing the rotation (RotXRotXRotXRotXrotX, RotYRotYRotYRotYrotY, and RotZRotZRotZRotZrotZ). The last parameter codes the order of the translations and the rotations (as well as the direction of rotation). Further information about these parameters can be found in the documentation of create_posecreate_poseCreatePoseCreatePoseCreatePose and in the “Solution Guide III-C - 3D Vision”.

3D poses can be interpreted in two ways: First, to describe the position and orientation of one coordinate system relative to another (e.g., the pose of a part's coordinate system relative to the camera coordinate system - in short: the pose of the part relative to the camera). Following the second interpretation, a pose describes how coordinates can be transformed between two coordinate systems (e.g., to transform points from part coordinates into camera coordinates).

A pose that transforms point coordinates from coordinate system 1 (cs1) to coordinate system 2 (cs2) is denoted as . The corresponding transformation of a point given in cs1 () into cs2 () is denoted as

It should be noted that not the pose (as a tuple) but the transformation described by this pose is used for the multiplication and the above notation is only used for readability. Hence, the pose describes the rigid transformation that is represented by the homogeneous transformation matrix (see, e.g., the documentation of create_posecreate_poseCreatePoseCreatePoseCreatePose for further details)

Consequently, the pose describes the transformation of points from cs1 into cs2. Furthermore, as mentioned above, it also describes the transformation of the coordinate system itself, however, in reverse order: Thus, describes how coordinate system 2 must be transformed to obtain coordinate system 1, and hence, the pose of coordinate system 2 relative to system 1.

With this notation, poses can easily concatenated like homogeneous matrices, e.g. Such a concatenation can be done using e.g., pose_composepose_composePoseComposePoseComposePoseCompose.

List of Operators

convert_pose_typeConvertPoseTypeConvertPoseTypeconvert_pose_type

Change the representation type of a 3D pose.

create_poseCreatePoseCreatePosecreate_pose

Create a 3D pose.

deserialize_poseDeserializePoseDeserializePosedeserialize_pose

Deserialize a serialized pose.

dual_quat_to_poseDualQuatToPoseDualQuatToPosedual_quat_to_pose

Convert a dual quaternion to a 3D pose.

get_circle_poseGetCirclePoseGetCirclePoseget_circle_pose

Determine the 3D pose of a circle from its perspective 2D projection.

get_pose_typeGetPoseTypeGetPoseTypeget_pose_type

Get the representation type of a 3D pose.

get_rectangle_poseGetRectanglePoseGetRectanglePoseget_rectangle_pose

Determine the 3D pose of a rectangle from its perspective 2D projection

pose_averagePoseAveragePoseAveragepose_average

Compute the average of a set of poses.

pose_composePoseComposePoseComposepose_compose

Combine 3D poses given in two tuples.

pose_invertPoseInvertPoseInvertpose_invert

Invert each pose in a tuple of 3D poses.

pose_to_dual_quatPoseToDualQuatPoseToDualQuatpose_to_dual_quat

Convert a 3D pose to a unit dual quaternion.

pose_to_quatPoseToQuatPoseToQuatpose_to_quat

Convert the rotational part of a 3D pose to a quaternion.

proj_hom_mat2d_to_poseProjHomMat2dToPoseProjHomMat2dToPoseproj_hom_mat2d_to_pose

Compute a pose out of a homography describing the relation between world and image coordinates.

quat_to_poseQuatToPoseQuatToPosequat_to_pose

Convert a quaternion into the corresponding 3D pose.

read_poseReadPoseReadPoseread_pose

Read a 3D pose from a text file.

serialize_poseSerializePoseSerializePoseserialize_pose

Serialize a pose.

set_origin_poseSetOriginPoseSetOriginPoseset_origin_pose

Translate the origin of a 3D pose.

vector_to_poseVectorToPoseVectorToPosevector_to_pose

Compute an absolute pose out of point correspondences between world and image coordinates.

write_poseWritePoseWritePosewrite_pose

Write a 3D pose to a text file.