Operator Reference

HALCON Operator Reference / Transformations / Poses

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read_poseT_read_poseReadPoseReadPoseread_pose (Operator)

read_poseT_read_poseReadPoseReadPoseread_pose — Read a 3D pose from a text file.

Signature

read_pose( : : PoseFile : Pose)

Herror T_read_pose(const Htuple PoseFile, Htuple* Pose)

void ReadPose(const HTuple& PoseFile, HTuple* Pose)

void HPose::ReadPose(const HString& PoseFile)

void HPose::ReadPose(const char* PoseFile)

void HPose::ReadPose(const wchar_t* PoseFile)   ( Windows only)

static void HOperatorSet.ReadPose(HTuple poseFile, out HTuple pose)

void HPose.ReadPose(string poseFile)

def read_pose(pose_file: str) -> Sequence[Union[int, float]]

Description

read_poseread_poseReadPoseReadPoseread_pose is used to read the 3D pose PosePosePoseposepose from a text file with the name PoseFilePoseFilePoseFileposeFilepose_file. The default HALCON file extension for the 3D pose is 'dat'.

A pose describes a rigid 3D transformation, i.e., a transformation consisting of an arbitrary translation and rotation, with 6 parameters, three for the translation, three for the rotation. With a seventh parameter different pose types can be indicated (see create_posecreate_poseCreatePoseCreatePosecreate_pose).

A suitable file can be generated by the operator write_posewrite_poseWritePoseWritePosewrite_pose and looks like the following:

  # 3D POSE PARAMETERS: rotation and translation

  # Used representation type:
  f 0

  # Rotation angles [deg] or Rodriguezvector:
  r -17.8134 1.83816 0.288092

  # Translation vector (x y z [m]):
  t 0.280164 0.150644 1.7554

Execution Information

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Processed without parallelization.

Parameters

PoseFilePoseFilePoseFileposeFilepose_file (input_control)  filename.read → HTuplestrHTupleHtuple (string) (string) (HString) (char*)

File name of the external camera parameters.

Default: 'campose.dat' "campose.dat" "campose.dat" "campose.dat" "campose.dat"

Suggested values: 'campose.dat'"campose.dat""campose.dat""campose.dat""campose.dat", 'campose_initial.dat'"campose_initial.dat""campose_initial.dat""campose_initial.dat""campose_initial.dat", 'campose_final.dat'"campose_final.dat""campose_final.dat""campose_final.dat""campose_final.dat"

File extension: .dat

PosePosePoseposepose (output_control)  pose → HPose, HTupleSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

3D pose.

Number of elements: 7

Result

read_poseread_poseReadPoseReadPoseread_pose returns 2 ( H_MSG_TRUE) if all parameter values are correct and the file has been read successfully. If necessary an exception is raised.

Possible Predecessors

read_cam_parread_cam_parReadCamParReadCamParread_cam_par

Possible Successors

pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d, camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationcamera_calibration, disp_caltabdisp_caltabDispCaltabDispCaltabdisp_caltab, sim_caltabsim_caltabSimCaltabSimCaltabsim_caltab

See also

create_posecreate_poseCreatePoseCreatePosecreate_pose, find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose, camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationcamera_calibration, disp_caltabdisp_caltabDispCaltabDispCaltabdisp_caltab, sim_caltabsim_caltabSimCaltabSimCaltabsim_caltab, write_posewrite_poseWritePoseWritePosewrite_pose, pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose

Module

Foundation

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