extrinsicsToCameraPose

Convert extrinsics to camera pose

Syntax

[orientation,location] = extrinsicsToCameraPose(rotationMatrix,translationVector)

Description

example

[orientation,location] = extrinsicsToCameraPose(rotationMatrix,translationVector) returns 3-D camera pose orientation and location in world coordinates. The inputs, rotationMatrix and translationVector, represent the transformation from world coordinates to camera coordinates.

Examples

collapse all

R = eye(3);
t = [0 0 -10];
[orientation,location] = extrinsicsToCameraPose(R,t)
orientation = 3×3

     1     0     0
     0     1     0
     0     0     1

location = 1×3

     0     0    10

Input Arguments

collapse all

3-D rotation , specified as a 3-by-3 matrix. The rotation matrix, together with the translation vector allows you to transform points from the world coordinate system to the camera coordinate system.

The relationship between the rotation matrix and the input orientation matrix is:

rotationMatrix = orientation'

Data Types: double | single

3-D translation, specified as a 1-by-3 vector. The translation vector together with the rotation matrix, enables you to transform points from the world coordinate system to the camera coordinate system.

The relationship between the translation vector and the input orientation matrix is :

translationVector = –location*orientation'

Data Types: double | single

Output Arguments

collapse all

3-D orientation of the camera in world coordinates, returned as a 3-by-3 matrix.

3-D location of the camera in world coordinates, specified as a three-element vector.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2016b