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cameraPoseToExtrinsics

Convert camera pose to extrinsics

Syntax

``````[rotationMatrix,translationVector] = cameraPoseToExtrinsics(orientation,location)``````

Description

example

``````[rotationMatrix,translationVector] = cameraPoseToExtrinsics(orientation,location)``` returns the camera extrinsics, `rotationMatrix` and `translationVector`, which represent the coordinate system transformation from world coordinates to camera coordinates. The inputs, `orientation` and `location`, represent the 3-D camera pose in the world coordinates.```

Examples

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```orientation = eye(3); location = [0 0 10]; [R,t] = cameraPoseToExtrinsics(orientation,location)```
```R = 3×3 1 0 0 0 1 0 0 0 1 ```
```t = 1×3 0 0 -10 ```

Input Arguments

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3-D orientation of the camera in world coordinates, specified as a 3-by-3 matrix. The `orientation` and `location` inputs must be the same data type.

Data Types: `double` | `single`

3-D location of the camera in world coordinates, specified as a three-element vector. The `orientation` and `location` inputs must be the same data type.

Data Types: `double` | `single`

Output Arguments

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3-D rotation , returned as a 3-by-3 matrix. The rotation matrix, together with the translation vector allows you to transform points from the world coordinate system to the camera coordinate system.

The relationship between the rotation matrix and the input orientation matrix is:

 `rotationMatrix` = `orientation`'

3-D translation, returned as a 1-by-3 vector. The translation vector together with the rotation matrix, enables you to transform points from the world coordinate system to the camera coordinate system.

The relationship between the translation vector and the input orientation matrix is :

 `translationVector` = –`location`*`orientation`'