TransformData
TransformData carries one or more rigid transforms expressed as 4×4 homogeneous matrices. The message is commonly emitted by calibration utilities, the RGBD node, and host-side tools that need to pass camera-to-camera or camera-to-world extrinsics to the device. Each transform stores rotation and translation in row-major order together with an optional label that identifies the source and target reference frames.You can queue TransformData messages to configuration inputs (for example, ImageAlign or PointCloud) to update alignment matrices at runtime, or forward them to the host for logging and visualization.Reference
class
dai::TransformData
variable
Transform transform
function
TransformData()function
TransformData(const Transform & transform)function
TransformData(const std::array< std::array< double, 4 >, 4 > & data)function
TransformData(double x, double y, double z, double qx, double qy, double qz, double qw)function
TransformData(double x, double y, double z, double roll, double pitch, double yaw)function
~TransformData()function
void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype)function
Point3d getTranslation()function
Point3d getRotationEuler()function
Quaterniond getQuaternion()function
DEPTHAI_SERIALIZE(TransformData, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, transform)Need assistance?
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