Convert camera pose to extrinsics
returns the camera extrinsics, or the transformation from world coordinates to camera
coordinates, for a camera with pose
camExtrinsics = pose2extr(
cameraPose in world
Convert World Coordinates to Camera Coordinates
Create a camera pose from a 3-D orientation matrix and location vector.
orientation = eye(3); location = [0 0 10]; cameraPose = rigidtform3d(orientation,location);
Compute the transformation from world coordinates to camera coordinates.
tform = pose2extr(cameraPose)
tform = rigidtform3d with properties: Dimensionality: 3 R: [3×3 double] Translation: [0 0 -10] A: [4×4 double]
cameraPose — Orientation and location of camera
Orientation and location of the camera in world coordinates, specified as a
camExtrinsics — Camera extrinsics
Camera extrinsics, returned as a
object. The extrinsics are a transformation from world coordinates to camera coordinates
that enables you to transform points from the world coordinate system to the camera
camExtrinsics is the inverse of
cameraPose as calculated using the
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Version HistoryIntroduced in R2022b
R2022b: Recommended over
Starting in R2022b, most Computer Vision Toolbox™ functions create and perform geometric transformations using the premultiply
convention. However, the
cameraPoseToExtrinsics function uses the
postmultiply convention. Although there are no plans to remove
cameraPoseToExtrinsics at this time, you can streamline your
geometric transformation workflows by switching to the
function, which supports the premultiply convention.