hom_mat_values ( : : HomTransMat : Alpha, Beta, Gamma, X, Y, Z )
Selects the rotation and translation values from a transformation matrix.
hom_mat_values is used to compute the values of the
rotation angles and the translation vector from the 4x3 transformation
matrix HomTransMat.
The Angle Alpha describes the rotation around the X-axis,
Beta the rotation around the Y-axis, and Gamma
the rotation around the Z-axis. The rotation order is Gamma-Beta-Alpha.
The rotation direction is mathematical positive.
X, Y und Z describe the translation
along the corresponding axes.
Parameters
HomTransMat (input_control)
|
affin3d-array -> real
|
Transformation matrix. |
Number of elements: 12 |
Alpha (output_control)
|
real -> real
|
Rotation angle around the (new) X-axis in degree. |
Beta (output_control)
|
real -> real
|
Rotation angle around the (new) Y-axis in degree. |
Gamma (output_control)
|
real -> real
|
Rotation angle around the Z-axis in degree. |
X (output_control)
|
real -> real
|
Translation along the X-axis in meter. |
Y (output_control)
|
real -> real
|
Translation along the Y-axis in meter. |
Z (output_control)
|
real -> real
|
Translation along the Z-axis in meter. |
Example
/* read camera pose */
read_cam_pose(::'campose.dat':CamPose) >
/* transform pose to transformation matrix */
pose_to_hom_mat(::CamPose:HomTransMat) >
/* select values from transformation matrix */
hom_mat_values(::HomTransMat:Alpha,Beta,Gamma,X,Y,Z).
Result
hom_mat_values returns TRUE if all parameter values are
correct.
Possible Predecessors
pose_to_hom_mat
Possible Successors
hom_3d_trans,
hom_mat_to_pose,
hom_mat_rot,
hom_mat_translate
See also
hom_3d_trans,
hom_mat_ident,
hom_mat_rot,
hom_mat_translate,
pose_to_hom_mat,
hom_mat_to_pose,
hom_mat_mult
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