Not enough input Arguments

7 次查看（过去 30 天）
Christian Vogel
Christian Vogel 2021-12-29
编辑： Torsten 2021-12-29
Unfortunately, in line four it tells me that I am not passing enough input arguments. I don't quite understand how to fix the error? The code seems to be correct for me. I actually converted the code from python to matlab because in matlab I need the function.
Thanks for your help!
Code:
function e = angle_axis(T,Td)
e = [];
e(1:3) = Td(1:3,end)-T(1:3,end); % -> Mistake
R = Td(1:3, 1:3) * T(1:3, 1:3).';
li = [R(2, 1) - R(1, 2), R(0, 2) - R(2, 0), R(1, 0) - R(0, 1)];
if any(li)
% diagonal matrix case
if trace(R) > 0
% (1,1,1) case
a = zeros(3,0);
else
a = pi/2*(diag(R)+1);
end
else
ln = norm(li);
a = atan2(ln, trace(R)-1)*li/ln;
end
e(3:1) = a;
end
  4 个评论
显示 2更早的评论
Torsten
Torsten 2021-12-29
编辑：Torsten 2021-12-29
Then post your revised code together with the call to "angle_axis" and the error message you get.
And allocating zeros(3,0) also does not make much sense - you get an empty matrix.

请先登录，再进行评论。

请先登录，再回答此问题。

采纳的回答

KSSV
KSSV 2021-12-29
The error is clear. You are trying to run the function by hitting the run button/ F5 key. You need to provide the inputs to the function and then call the function.
T = define your value ;
Td = define your value ;
e = angle_axis(T,Td) % now call the function

更多回答（1 个）

Christian Vogel
Christian Vogel 2021-12-29
That is the "translated" Matlab code:
function e = angle_axis(T,Td)
e = [];
e(1:3) = Td(1:3,end)-T(1:3,end);
R = Td(1:3, 1:3) * T(1:3, 1:3).';
li = [R(3, 2) - R(2, 3), R(1, 3) - R(3, 1), R(2, 1) - R(1, 2)];
if any(li)
% diagonal matrix case
if trace(R) > 0
% (1,1,1) case
a = zeros(3,1);
else
a = pi/2*(diag(R)+1);
end
else
ln = norm(li);
a = atan2(ln, trace(R)-1)*li/ln;
end
e(3:1) = a;
end
That is the python code:
def _angle_axis(T, Td):
e = np.empty(6)
e[:3] = Td[:3, -1] - T[:3, -1]
R = Td[:3, :3] @ T[:3, :3].T
li = np.array([R[2, 1] - R[1, 2], R[0, 2] - R[2, 0], R[1, 0] - R[0, 1]])
if base.iszerovec(li):
# diagonal matrix case
if np.trace(R) > 0:
# (1,1,1) case
a = np.zeros((3,))
else:
a = np.pi / 2 * (np.diag(R) + 1)
else:
# non-diagonal matrix case
ln = base.norm(li)
a = math.atan2(ln, np.trace(R) - 1) * li / ln
e[3:] = a
return e
And when I run the Matlab code, I get following issue (please refer png data)
  3 个评论
显示 1更早的评论
Christian Vogel
Christian Vogel 2021-12-29
Sorry my fault! That was stupid of me.
I have following issue, when I run the function (refer png)
Torsten
Torsten 2021-12-29
编辑：Torsten 2021-12-29
In the last line of angle_axis, use
e(1:3) = a
instead of
e(3:1) = a
or whatever is senseful in this context (e(3:1) is empty).

请先登录，再进行评论。

类别

在 Help Center 和 File Exchange 中查找有关 Call Python from MATLAB 的更多信息

标签

产品


版本

R2020a

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by