svm_get_marker_offset_pose(cpos, offset, euler_mode)

Features

Estimate the landmark pose with respect to Robot coordinate by using offset from the origin of the landmark.

Parameters

Parameter Name	Data Type	Description
cpos	§ list[Tx, Ty, Tz, Rx, Ry, Rz]	Landmark pose based on camera coordinates
offset	list[Tx, Ty, Rz]	Position and angle of rotation away from the landmark origin
euler_mode	boolean	Orientation option for Landmark pose with respect to Robot coordinate: ZYZ for “True”, XYZ for “False”

Return

Value	Data Type	Description
rpos	list[Tx, Ty, Tz, Rz, Ry, Rz'] or list[Tx, Ty, Tz, Rx, Ry, Rz]	Landmark pose based on robot coordinates or Landmark pose with offset set
-1	Int	Fail – no measurement data or input variable error

Example

Python

svm_connect()                             # Connect to vision

offset = [10,-20, 45]
euler_mode = True
rpos = svm_get_marker_offset_pose(cpos, offset, euler_mode)
tp_popup("Landmark with respect to Robot={0}".format(rpos))
svm_disconnect()                            # Disconnect to vision