read_poseT_read_poseReadPoseReadPoseread_pose (Operator)
Name
read_poseT_read_poseReadPoseReadPoseread_pose — Read a 3D pose from a text file.
Signature
def read_pose(pose_file: str) -> Sequence[Union[int, float]]
Description
read_poseread_poseReadPoseReadPoseReadPoseread_pose is used to read the 3D pose PosePosePosePoseposepose from
a text file with the name PoseFilePoseFilePoseFilePoseFileposeFilepose_file.
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_poseCreatePoseCreatePoseCreatePosecreate_pose).
A suitable file can be generated by the operator write_posewrite_poseWritePoseWritePoseWritePosewrite_pose
and 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
PoseFilePoseFilePoseFilePoseFileposeFilepose_file (input_control) filename.read → HTuplestrHTupleHtuple (string) (string) (HString) (char*)
File name of the external camera parameters.
Default value:
'campose.dat'
"campose.dat"
"campose.dat"
"campose.dat"
"campose.dat"
"campose.dat"
Suggested values: 'campose.dat'"campose.dat""campose.dat""campose.dat""campose.dat""campose.dat", 'campose_initial.dat'"campose_initial.dat""campose_initial.dat""campose_initial.dat""campose_initial.dat""campose_initial.dat", 'campose_final.dat'"campose_final.dat""campose_final.dat""campose_final.dat""campose_final.dat""campose_final.dat"
File extension: .dat
PosePosePosePoseposepose (output_control) pose → HPose, HTupleSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
3D pose.
Number of elements: 7
Result
read_poseread_poseReadPoseReadPoseReadPoseread_pose returns 2 (H_MSG_TRUE) if all parameter values are
correct and the file has been read successfully. If necessary an
exception is raised.
Possible Predecessors
read_cam_parread_cam_parReadCamParReadCamParReadCamParread_cam_par
Possible Successors
pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d,
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration,
disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab,
sim_caltabsim_caltabSimCaltabSimCaltabSimCaltabsim_caltab
See also
create_posecreate_poseCreatePoseCreatePoseCreatePosecreate_pose,
find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose,
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration,
disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab,
sim_caltabsim_caltabSimCaltabSimCaltabSimCaltabsim_caltab,
write_posewrite_poseWritePoseWritePoseWritePosewrite_pose,
pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d,
hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose
Module
Foundation