pose2extr

Convert camera pose to extrinsics

Since R2022b

Syntax

camExtrinsics = pose2extr(cameraPose)

Description

camExtrinsics = pose2extr(cameraPose) returns the camera extrinsics, or the transformation from world coordinates to camera coordinates, for a camera with pose cameraPose in world coordinates.

Examples

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
       Translation: [0 0 -10]
                 R: [3×3 double]

                 A: [1     0     0     0
                     0     1     0     0
                     0     0     1   -10
                     0     0     0     1]

Input Arguments

cameraPose — Orientation and location of camera

rigidtform3d object

Orientation and location of the camera in world coordinates, specified as a rigidtform3d object.

Output Arguments

camExtrinsics — Camera extrinsics

rigidtform3d object

Camera extrinsics, returned as a rigidtform3d 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 coordinate system. camExtrinsics is the inverse of cameraPose as calculated using the invert function.

Extended Capabilities

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

Version History

Introduced in R2022b

R2022b: Recommended over cameraPoseToExtrinsics

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 pose2extr function, which supports the premultiply convention. For more information, see Migrate Geometric Transformations to Premultiply Convention.