Add methods to convert SE3 to/from the rvec, tvec format used by OpenCV #157
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…oses within OpenCV
| :return: rotation and translation vectors | ||
| :rtype: ndarray(3), ndarray(3) | ||
|
|
||
| Many OpenCV functions accept pose as two 3-vectors: a rotation vector using |
There was a problem hiding this comment.
There was a problem hiding this comment.
More for something like pose estimation or camera projection.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
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.