Method __init__

plib/rigid_motion.py:15–25

(self, R: np.ndarray = None, t: np.ndarray = None, H: np.ndarray = None)

class RigidMotion:
    def __init__(self, R: np.ndarray = None, t: np.ndarray = None, H: np.ndarray = None):
        if H is not None:
            R = H[:3, :3]
            t = H[:3, 3]
        if R is None:
            R = np.eye(3)
        if t is None:
            t = np.zeros(3)

        self.R = copy.deepcopy(R)  # 3*3 rotation matrix
        self.t = copy.deepcopy(np.reshape(t, (3, 1)))  # 3*1 position

    def homogeneous_matrix(self):
        """returns the 4*4 homogeneous matrix."""