transformation

R2026b

Compute transformation between two frames

Since R2026b

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Syntax

tform = transformation(multiSensorObj,sourceSensor)
tform = transformation(multiSensorObj,sourceSensor,targetSensor)

Description

tform = transformation(multiSensorObj,sourceSensor) returns the rigid transformation that maps points from the frame of the sensor sourceSensor to the reference frame of the multiSensorParameters object.

example

tform = transformation(multiSensorObj,sourceSensor,targetSensor) returns the rigid transformation that maps points from the frame of the sensor sourceSensor, to the frame of the sensor targetSensor.

Examples

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This example uses:

Open Live Script

Load a multi-sensor parameters object that contains six cameras and two lidar sensors.

multiSensorObj = load("multiSensorObjPandaSet.mat").multiSensorObj
multiSensorObj = 
  multiSensorParameters with properties:

    ReferenceFrame: "vehicle"
             Count: 8
           Sensors: [8×6 table]

                                 Name              Type               MountingAngles                       MountingLocation                    Intrinsics           SensorInfo 
                         ____________________    ________    ________________________________    ____________________________________    ______________________    ____________
                
                    1    "back_camera"           "camera"      89.916      0.1733     -88.912    -0.69927     0.0013883        1.6532    {1×1 cameraIntrinsics}    {1×1 struct}
                    2    "front_camera"          "camera"     -91.555     -1.0757     -90.711      0.4035    -0.0016662        1.8104    {1×1 cameraIntrinsics}    {1×1 struct}
                    3    "front_gt"              "lidar"      -87.536     0.20817      1.3051     0.95814      0.024137        2.1652    {0×0 double          }    {1×1 struct}
                    4    "front_left_camera"     "camera"     -34.072      0.8383     -90.257      1.0874       0.62237         1.535    {1×1 cameraIntrinsics}    {1×1 struct}
                    5    "front_right_camera"    "camera"     -149.62    -0.19227     -89.611      1.0191      -0.62249        1.6058    {1×1 cameraIntrinsics}    {1×1 struct}
                    6    "left_camera"           "camera"    -0.26917     0.46213     -89.028     0.12172       0.54348         1.581    {1×1 cameraIntrinsics}    {1×1 struct}
                    7    "main_pandar64"         "lidar"           90           0           0        0.36             0          1.85    {0×0 double          }    {1×1 struct}
                    8    "right_camera"          "camera"      179.59    -0.75135     -89.148     0.12018      -0.68784        1.5548    {1×1 cameraIntrinsics}    {1×1 struct}

Get the transformation from the front camera to the front lidar sensor.

tform = transformation(multiSensorObj,"front_camera","front_gt");

Get the camera intrinsic parameters of the front camera.

camIntrinsicsFront = intrinsics(multiSensorObj,"front_camera");

Get the mounting angles and mounting location of the front camera.

[mountingAngles,mountingLocation] = mountingPose(multiSensorObj,"front_camera");

Input Arguments

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Multi-sensor parameters object, specified as a multiSensorParameters object.

Name of the source sensor, specified as a character vector or string scalar.

Name of the target sensor, specified as a character vector or string scalar.

Output Arguments

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Transformation between the sensor frames, returned as an se3 object.

Version History

Introduced in R2026b