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6d pose -- unity coordinate
Posted 2024-08-01Updated 2025-05-11Notea minute read (About 129 words)   visits

6d pose -- unity coordinate

6d pose -> unity coordinate

unity 使用左手坐标系,普遍的 6d 算法使用右手坐标系,所以得出[R;t]后需要做一步针对 y 轴的反射变换

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def right_to_left_hand_pose_R(R):
# 定义反射矩阵
M = torch.tensor([
[ 1, 0, 0],
[ 0, -1, 0],
[ 0, 0, 1]
], dtype=R.dtype)

# 转换旋转矩阵
R_prime = M @ R @ M

return R_prime

def right_to_left_hand_pose_t(t):
# 定义反射矩阵
M = torch.tensor([
[ 1, 0, 0],
[ 0, -1, 0],
[ 0, 0, 1]
], dtype=t.dtype)

# 转换位移向量
t_prime = M @ t

return t_prime

可以看到效果很好:

6d pose -- unity coordinate

http://chen-yulin.github.io/2024/08/01/[OBS]Capstone-6d pose -- unity coordinate/

Author

Chen Yulin

Posted on

2024-08-01

Updated on

2025-05-11

Licensed under

#UnityPythonCV6-DCapstone
自定义 Gen6d 物体
6-D Pose Estimation Survey

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