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Table of Contents

Video3D Extrinsics

Gets the extrinsic transformation from one Video3D image sensor to another.

Library

QUARC Targets/Multimedia

MATLAB Command Line

Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:

qc_open_library('quarc_library/Multimedia')

Description

Video3D Extrinsics

The Video3D Extrinsics block outputs the homogeneous transformation mapping the physical location of one image sensor to another in an RGBD camera. Each sensor is identified by the Video3D Capture block that is outputting the image from the sensor.

The homogeneous transformation takes the form:

R

d

0

1

where R is a 3x3 rotation matrix and d is a translation vector. QUARC has a number of blocks supporting operations on homogeneous transformation matrices of this form. The translations are in meters.

Input Ports

This block has no input ports.

Output Ports

trans

The homogeneous transform from one image sensor to another as a 4x4 single-precision matrix.

Parameters and Dialog Box

Video3D Extrinsics

Video device name

The identity of the associated Video3D Initialize block. The Video3D Extrinsics block must be associated with a Video3D Initialize block. This parameter will show a list of all the Video3D Initialize blocks in the diagram or "unassigned".

From image stream produced by block

The full path to the Video3D Capture block representing the image sensor serving as the starting point for the transformation.

To image stream produced by block

The full path to the Video3D Capture block representing the image sensor serving as the ending point for the transformation.

Sample time

The sampling period (in seconds) of the Video3D Extrinsics block. A sample time of 0 indicates that the block will be treated as a continuous time block. A positive sample time indicates that the block is a discrete time block with the given sample time. The sample time cannot be inherited.

The default sample time is set to qc_get_step_size * ceil(0.033 / qc_get_step_size). The qc_get_step_size function is a QUARC function that returns the fundamental sampling time of the model. Hence, the default sample time is a discrete sample time which is a multiple of the fixed step size of the model and close to 1/30 of a second.

Targets

Target Name

Compatible*

Model Referencing

Comments

QUARC Win32 Target

Yes

Yes

QUARC Win64 Target

Yes

Yes

QUARC Linux Nvidia Target

Yes

Yes

QUARC Linux QBot Platform Target

Yes

Yes

QUARC Linux QCar 2 Target

Yes

Yes

QUARC Linux QDrone 2 Target

Yes

Yes

QUARC Linux Raspberry Pi 3 Target

Yes

Yes

QUARC Linux Raspberry Pi 4 Target

Yes

Yes

QUARC Linux RT ARMv7 Target

Yes

Yes

QUARC Linux x64 Target

Yes

Yes

QUARC Linux DuoVero Target

Yes

Yes

QUARC Linux DuoVero 2016 Target

Yes

Yes

QUARC Linux Verdex Target

No

No

Not supported.

QUARC QNX x86 Target

No

No

Not supported.

Rapid Simulation (RSIM) Target

Yes

Yes

Fully supported.

S-Function Target

No

N/A

Old technology. Use model referencing instead.

Normal simulation

Yes

Yes

Fully supported.

* Compatible means that the block can be compiled for the target.

 

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