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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