extr2pose

R2026b

Convert extrinsics to camera pose

Since R2022b

Syntax

cameraPose = extr2pose(camExtrinsics)

Description

cameraPose = extr2pose(camExtrinsics) returns the camera pose, cameraPose, in world coordinates, given the camera extrinsics.

Examples

Convert Camera Coordinates to World Coordinates

Create a 3-D rigid geometric transformation from a rotation matrix and a translation vector.

rotationMatrix = eye(3);
translationVector = [0 0 -10];
tform = rigidtform3d(rotationMatrix,translationVector);

Compute the camera pose in world coordinates.

cameraPose = extr2pose(tform)

cameraPose = 
  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

camExtrinsics — Camera extrinsics

scalar or array of rigidtform3d objects | scalar or array of se3 objects

Camera extrinsics, specified as a scalar or array of rigidtform3d or se3 objects. 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.

Output Arguments

cameraPose — Camera pose

scalar or array of rigidtform3d objects | scalar or array of se3 objects

Camera pose in world coordinates, returned as a scalar or array of rigidtform3d or se3 objects of the same size as the input camExtrinsics. Each element of cameraPose is the inverse of the corresponding element of camExtrinsics, as calculated using the invert function.

Extended Capabilities

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

GPU Code Generation
Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

Version History

Introduced in R2022b

R2022b: Recommended over extrinsicsToCameraPose

Starting in R2022b, most Computer Vision Toolbox™ functions create and perform geometric transformations using the premultiply convention. However, the extrinsicsToCameraPose function uses the postmultiply convention. Although there are no plans to remove extrinsicsToCameraPose at this time, you can streamline your geometric transformation workflows by switching to the extr2pose function, which supports the premultiply convention. For more information, see Migrate Geometric Transformations to Premultiply Convention.