py3dframe.FrameTransform.convention#
- property FrameTransform.convention: int#
The convention to express the transformation between the input frame and the output frame.
Note
This property is settable.
The convention can be an integer between 0 and 7 corresponding to the conventions described in the table below:
Index
Formula
0
\(\mathbf{X}_E = \mathbf{R} \mathbf{X}_F + \mathbf{T}\)
1
\(\mathbf{X}_E = \mathbf{R} \mathbf{X}_F - \mathbf{T}\)
2
\(\mathbf{X}_E = \mathbf{R} (\mathbf{X}_F + \mathbf{T})\)
3
\(\mathbf{X}_E = \mathbf{R} (\mathbf{X}_F - \mathbf{T})\)
4
\(\mathbf{X}_F = \mathbf{R} \mathbf{X}_E + \mathbf{T}\)
5
\(\mathbf{X}_F = \mathbf{R} \mathbf{X}_E - \mathbf{T}\)
6
\(\mathbf{X}_F = \mathbf{R} (\mathbf{X}_E + \mathbf{T})\)
7
\(\mathbf{X}_F = \mathbf{R} (\mathbf{X}_E - \mathbf{T})\)
Where:
\(\mathbf{X}_E\) is a point expressed in the input frame coordinates.
\(\mathbf{X}_F\) is the same point expressed in the output frame coordinates.
\(\mathbf{R}\) is the rotation matrix between the input frame and the output frame.
\(\mathbf{T}\) is the translation vector between the input frame and the output frame.
Note
The default convention is 0.