Operator Reference

HALCON Operator Reference / Transformations / Poses
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pose_invertT_pose_invertPoseInvertPoseInvertpose_invert (Operator)

pose_invertT_pose_invertPoseInvertPoseInvertpose_invert — Invert each pose in a tuple of 3D poses.

Signature

pose_invert( : : Pose : PoseInvert)

Herror T_pose_invert(const Htuple Pose, Htuple* PoseInvert)

void PoseInvert(const HTuple& Pose, HTuple* PoseInvert)

static HPoseArray HPose::PoseInvert(const HPoseArray& Pose)

HPose HPose::PoseInvert() const

static void HOperatorSet.PoseInvert(HTuple pose, out HTuple poseInvert)

static HPose[] HPose.PoseInvert(HPose[] pose)

HPose HPose.PoseInvert()

def pose_invert(pose: Sequence[Union[float, int]]) -> Sequence[Union[float, int]]

Description

pose_invertpose_invertPoseInvertPoseInvertpose_invert inverts each pose of the given tuple PosePosePoseposepose by transforming it into the corresponding homogeneous transformation matrix and inverting this matrix. The resulting matrix is converted into a pose. This pose is returned at the respective index in the tuple PoseInvertPoseInvertPoseInvertposeInvertpose_invert. The returned poses have the same types as the original poses.

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

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

Tuple of 3D poses.

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

Tuple of inverted 3D poses.

Result

pose_invertpose_invertPoseInvertPoseInvertpose_invert returns 2 ( H_MSG_TRUE) if all parameters are valid. If necessary, an exception is raised.

Possible Predecessors

read_poseread_poseReadPoseReadPoseread_pose, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose, create_posecreate_poseCreatePoseCreatePosecreate_pose, convert_pose_typeconvert_pose_typeConvertPoseTypeConvertPoseTypeconvert_pose_type, pose_composepose_composePoseComposePoseComposepose_compose

Possible Successors

convert_pose_typeconvert_pose_typeConvertPoseTypeConvertPoseTypeconvert_pose_type

Alternatives

hom_mat3d_inverthom_mat3d_invertHomMat3dInvertHomMat3dInverthom_mat3d_invert, dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugatedual_quat_conjugate

See also

pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose

Module

Foundation

ClassesClasses | | Operators