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Add methods to convert SE3 to/from the rvec, tvec format used by OpenCV #157

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Merged
merged 1 commit into from
Jan 26, 2025

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petercorke
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OpenCV represents poses by a pair of 3-vectors: rvec (exponential coordinates) and tvec (translation). Two new methods: construct an SE3 from rvec, tvec, and convert SE3 to rvec, tvec.

Tests and doco included.

@petercorke petercorke added the enhancement New feature or request label Jan 21, 2025
:return: rotation and translation vectors
:rtype: ndarray(3), ndarray(3)

Many OpenCV functions accept pose as two 3-vectors: a rotation vector using
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More for something like pose estimation or camera projection.

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@myeatman-bdai myeatman-bdai left a comment

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👍

@myeatman-bdai myeatman-bdai merged commit 8c6d422 into bdaiinstitute:master Jan 26, 2025
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