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...

npt.NDArray[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...

npt.NDArray[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...

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

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...

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

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).

int	nbElem (self)
	Number of elements in the matrix (always 16).

Static Functions
def	identity ()
	Creates an identity sl.Matrix4f. More...

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

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()

npt.NDArray[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()

npt.NDArray[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()

def identity ( )

staticinherited

Creates an identity sl.Matrix4f.

Returns: A sl.Matrix3f set to identity.

◆ zeros()

Matrix4f zeros ( )

staticinherited

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.nbElem(), 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.

Functions

Static Functions

Detailed Description

Functions

◆ init_transform()

◆ init_matrix()

◆ init_rotation_translation()

◆ init_orientation_translation()

◆ set_rotation_matrix()

◆ get_rotation_matrix()

◆ set_translation()

◆ get_translation()

◆ set_orientation()

◆ get_orientation()

◆ get_rotation_vector()

◆ set_rotation_vector()

◆ get_euler_angles()

◆ set_euler_angles()

◆ inverse()

◆ inverse_mat()

◆ transpose_mat()

◆ set_identity()

◆ identity()

◆ zeros()

◆ get_infos()

◆ set_sub_matrix3f()

◆ set_sub_vector3f()

◆ set_sub_vector4f()