Class representing a transformation (translation and rotation) for the positional tracking module. More...

Functions
None	init_transform (self, Transform motion)
	Deep copy from another sl.Transform. More...

None	init_matrix (self, Matrix4f matrix)
	Initializes the sl.Transform from a sl.Matrix4f. More...

None	init_rotation_translation (self, Rotation rot, Translation tr)
	Initializes the sl.Transform from an sl.Rotation and a sl.Translation. More...

None	init_orientation_translation (self, Orientation orient, Translation tr)
	Initializes the sl.Transform from an sl.Orientation and a sl.Translation. More...

None	set_rotation_matrix (self, Rotation py_rotation)
	Sets the rotation component of the current sl.Transform from an sl.Rotation. More...

Rotation	get_rotation_matrix (self)
	Returns the sl.Rotation corresponding to the current sl.Transform. More...

None	set_translation (self, Translation py_translation)
	Sets the translation component of the current sl.Transform from an sl.Translation. More...

Translation	get_translation (self)
	Returns the sl.Translation corresponding to the current sl.Transform. More...

None	set_orientation (self, Orientation py_orientation)
	Sets the orientation component of the current sl.Transform from an sl.Orientation. More...

Orientation	get_orientation (self)
	Returns the sl.Orientation corresponding to the current sl.Transform. More...

np.array[float]	get_rotation_vector (self)
	Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula. More...

None	set_rotation_vector (self, float input0, float input1, float input2)
	Sets the rotation component of the sl.Transform with a 3x1 rotation vector (using Rodrigues' transformation). More...

np.array[float]	get_euler_angles (self, radian=True)
	Converts the rotation component of the sl.Transform into Euler angles. More...

None	set_euler_angles (self, float input0, float input1, float input2, radian=True)
	Sets the rotation component of the sl.Transform from Euler angles. More...

ERROR_CODE	inverse (self)
	Sets the sl.Matrix4f to its inverse. More...

Matrix4f	inverse_mat (self, Matrix4f rotation)
	Returns the inverse of a sl.Matrix4f. More...

None	transpose (self)
	Sets the sl.Matrix4f to its transpose.

Matrix4f	transpose_mat (self, Matrix4f rotation)
	Returns the transpose of a sl.Matrix4f. More...

Matrix4f	set_identity (self)
	Sets the sl.Matrix4f to identity. More...

Matrix4f	identity (self)
	Creates an identity sl.Matrix4f. More...

None	set_zeros (self)
	Sets the sl.Matrix4f to zero.

Matrix4f	zeros (self)
	Creates a sl.Matrix4f filled with zeros. More...

str	get_infos (self)
	Returns the components of the sl.Matrix4f in a string. More...

ERROR_CODE	set_sub_matrix3f (self, Matrix3f input, row=0, column=0)
	Sets a sl.Matrix3f inside the sl.Matrix4f. More...

ERROR_CODE	set_sub_vector3f (self, float input0, float input1, float input2, column=3)
	Sets a 3x1 Vector inside the sl.Matrix4f at the specified column index. More...

ERROR_CODE	set_sub_vector4f (self, float input0, float input1, float input2, float input3, column=3)
	Sets a 4x1 Vector inside the sl.Matrix4f at the specified column index. More...

str	matrix_name (self)
	Returns the name of the matrix (optional).

np.numpy[float][float]	m (self)
	4*4 numpy array of inner data.

Detailed Description

Class representing a transformation (translation and rotation) for the positional tracking module.

It can be used to create any type of Matrix4x4 or sl::Matrix4f that must be specifically used for handling a rotation and position information (OpenGL, Tracking, etc.).
It inherits from the generic sl::Matrix4f class.

Functions

◆ init_transform()

None init_transform	(		self,
		Transform	motion
	)

Deep copy from another sl.Transform.

Parameters

motion : sl.Transform to copy.

◆ init_matrix()

None init_matrix	(		self,
		Matrix4f	matrix
	)

Initializes the sl.Transform from a sl.Matrix4f.

Parameters

matrix : sl.Matrix4f to be used.

Reimplemented from Matrix4f.

◆ init_rotation_translation()

None init_rotation_translation	(		self,
		Rotation	rot,
		Translation	tr
	)

Initializes the sl.Transform from an sl.Rotation and a sl.Translation.

Parameters

rot	: sl.Rotation to be used.
tr	: sl.Translation to be used.

◆ init_orientation_translation()

None init_orientation_translation	(		self,
		Orientation	orient,
		Translation	tr
	)

Initializes the sl.Transform from an sl.Orientation and a sl.Translation.

Parameters

orient	: Orientation to be used
tr	: Translation to be used

◆ set_rotation_matrix()

None set_rotation_matrix	(		self,
		Rotation	py_rotation
	)

Sets the rotation component of the current sl.Transform from an sl.Rotation.

Parameters

py_rotation : sl.Rotation to be used.

◆ get_rotation_matrix()

Rotation get_rotation_matrix ( self )

Returns the sl.Rotation corresponding to the current sl.Transform.

Returns: sl.Rotation created from the sl.Transform values.

Warning: The given sl.Rotation contains a copy of the sl.Transform values.

◆ set_translation()

None set_translation	(		self,
		Translation	py_translation
	)

Sets the translation component of the current sl.Transform from an sl.Translation.

Parameters

py_translation : sl.Translation to be used.

◆ get_translation()

Translation get_translation ( self )

Returns the sl.Translation corresponding to the current sl.Transform.

Returns: sl.Translation created from the sl.Transform values.

Warning: The given sl.Translation contains a copy of the sl.Transform values.

◆ set_orientation()

None set_orientation	(		self,
		Orientation	py_orientation
	)

Sets the orientation component of the current sl.Transform from an sl.Orientation.

Parameters

py_orientation : sl.Orientation to be used.

◆ get_orientation()

Orientation get_orientation ( self )

Returns the sl.Orientation corresponding to the current sl.Transform.

Returns: sl.Orientation created from the sl.Transform values.

Warning: The given sl.Orientation contains a copy of the sl.Transform values.

◆ get_rotation_vector()

np.array[float] get_rotation_vector ( self )

Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula.

Returns: Rotation vector (NumPy array) created from the sl.Transform values.

◆ set_rotation_vector()

None set_rotation_vector	(		self,
		float	input0,
		float	input1,
		float	input2
	)

Sets the rotation component of the sl.Transform with a 3x1 rotation vector (using Rodrigues' transformation).

Parameters

input0	: `rx` component of the rotation vector.
input1	: `ry` component of the rotation vector.
input2	: `rz` component of the rotation vector.

◆ get_euler_angles()

np.array[float] get_euler_angles	(	self,
		radian = `True`
	)

Converts the rotation component of the sl.Transform into Euler angles.

Parameters

radian : Whether the angle will be returned in radian or degree. Default: True

Returns: Euler angles (Numpy array) created from the sl.Transform values representing the rotations around the X, Y and Z axes using YZX convention.

◆ set_euler_angles()

None set_euler_angles	(		self,
		float	input0,
		float	input1,
		float	input2,
			radian = `True`
	)

Sets the rotation component of the sl.Transform from Euler angles.

Parameters

input0	: Roll value.
input1	: Pitch value.
input2	: Yaw value.
radian	: Whether the angle is in radian or degree. Default: True

◆ inverse()

ERROR_CODE inverse ( self )

inherited

Sets the sl.Matrix4f to its inverse.

Returns: sl.ERROR_CODE.SUCCESS if the inverse has been computed, sl.ERROR_CODE.FAILURE is not (det = 0).

◆ inverse_mat()

Matrix4f inverse_mat	(		self,
		Matrix4f	rotation
	)

inherited

Returns the inverse of a sl.Matrix4f.

Parameters

rotation : sl.Matrix4f to compute the inverse from.

Returns: The inverse of the sl.Matrix4f given as input.

◆ transpose_mat()

Matrix4f transpose_mat	(		self,
		Matrix4f	rotation
	)

inherited

Returns the transpose of a sl.Matrix4f.

Parameters

rotation : sl.Matrix4f to compute the transpose from.

Returns: The transpose of the sl.Matrix4f given as input.

◆ set_identity()

Matrix4f set_identity ( self )

inherited

Sets the sl.Matrix4f to identity.

Returns: itself

◆ identity()

Matrix4f identity ( self )

inherited

Creates an identity sl.Matrix4f.

Returns: A sl.Matrix3f set to identity.

◆ zeros()

Matrix4f zeros ( self )

inherited

Creates a sl.Matrix4f filled with zeros.

Returns: A sl.Matrix4f filled with zeros.

◆ get_infos()

str get_infos ( self )

inherited

Returns the components of the sl.Matrix4f in a string.

Returns: A string containing the components of the current sl.Matrix4f.

Referenced by Matrix4f.m(), and Mat.verbose().

◆ set_sub_matrix3f()

ERROR_CODE set_sub_matrix3f	(		self,
		Matrix3f	input,
			row = `0`,
			column = `0`
	)

inherited

Sets a sl.Matrix3f inside the sl.Matrix4f.

Note: Can be used to set the rotation matrix when the sl.Matrix4f is a pose or an isometric matrix.

Parameters

input	: Sub-matrix to put inside the sl.Matrix4f.
row	: Index of the row to start the 3x3 block. Must be 0 or 1.
column	: Index of the column to start the 3x3 block. Must be 0 or 1.

Returns: sl.ERROR_CODE.SUCCESS if everything went well, sl.ERROR_CODE.FAILURE otherwise.

◆ set_sub_vector3f()

ERROR_CODE set_sub_vector3f	(		self,
		float	input0,
		float	input1,
		float	input2,
			column = `3`
	)

inherited

Sets a 3x1 Vector inside the sl.Matrix4f at the specified column index.

Note: Can be used to set the translation/position matrix when the sl.Matrix4f is a pose or an isometry.

Parameters

input0	: First value of the 3x1 Vector to put inside the sl.Matrix4f.
input1	: Second value of the 3x1 Vector to put inside the sl.Matrix4f.
input2	: Third value of the 3x1 Vector to put inside the sl.Matrix4f.
column	: Index of the column to start the 3x3 block. By default, it is the last column (translation for a sl.Pose).

Returns: sl.ERROR_CODE.SUCCESS if everything went well, sl.ERROR_CODE.FAILURE otherwise.

◆ set_sub_vector4f()

ERROR_CODE set_sub_vector4f	(		self,
		float	input0,
		float	input1,
		float	input2,
		float	input3,
			column = `3`
	)

inherited

Sets a 4x1 Vector inside the sl.Matrix4f at the specified column index.

Parameters

input0	: First value of the 4x1 Vector to put inside the sl.Matrix4f.
input1	: Second value of the 4x1 Vector to put inside the sl.Matrix4f.
input2	: Third value of the 4x1 Vector to put inside the sl.Matrix4f.
input3	: Fourth value of the 4x1 Vector to put inside the sl.Matrix4f.
column	: Index of the column to start the 3x3 block. By default, it is the last column (translation for a sl.Pose).

Returns: sl.ERROR_CODE.SUCCESS if everything went well, sl.ERROR_CODE.FAILURE otherwise.