# extrinsicsToCameraPose

Convert extrinsics to camera pose

## Syntax

``cameraPose = extrinsicsToCameraPose(tform)``
``````[orientation,location] = extrinsicsToCameraPose(rotationMatrix,translationVector)``````

## Description

````cameraPose = extrinsicsToCameraPose(tform)` returns a `rigid3d` object that contains the camera pose, `cameraPose`, in world coordinates. `tform` is a transformation from world coordinates to camera coordinates, specified as a `rigid3d` object.```

example

``````[orientation,location] = extrinsicsToCameraPose(rotationMatrix,translationVector)``` returns 3-D camera pose orientation and location in world coordinates. The inputs, `rotationMatrix` and `translationVector`, represent the transformation from world coordinates to camera coordinates.```

## Examples

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Create a rotation matrix and a translation vector.

```rotationMatrix = eye(3); translationVector = [0 0 -10];```

Compute the camera orientation matrix and location vector in world coordinates.

`[orientation,location] = extrinsicsToCameraPose(rotationMatrix,translationVector)`
```orientation = 3×3 1 0 0 0 1 0 0 0 1 ```
```location = 1×3 0 0 10 ```

Compute the camera pose in world coordinates as a rigid 3-D object.

```tform = rigid3d(rotationMatrix,translationVector); cameraPose = extrinsicsToCameraPose(tform)```
```cameraPose = rigid3d with properties: Rotation: [3x3 double] Translation: [0 0 10] ```

## Input Arguments

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Transformation from world coordinates to camera coordinates, specified as a `rigid3d` object. The transformation allows you to transform points from the world coordinate system to the camera coordinate system.

3-D rotation, specified as a 3-by-3 matrix. The rotation matrix, together with the translation vector allows you to transform points from the world coordinate system to the camera coordinate system.

Data Types: `double` | `single`

3-D translation, specified as a 1-by-3 vector. The translation vector together with the rotation matrix, enables you to transform points from the world coordinate system to the camera coordinate system.

Data Types: `double` | `single`

## Output Arguments

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Camera pose in world coordinates, returned as a `rigid3d` object. `cameraPose` is computed as:

```cameraPose.Rotation = tform.Rotation' cameraPose.Translation = -tform.Translation * tform.Rotation'```

3-D orientation of the camera in world coordinates, returned as a 3-by-3 matrix.

The relationship between the rotation matrix and the output orientation matrix is:

 `orientation` = `rotationMatrix`'

3-D location of the camera in world coordinates, specified as a three-element vector.

The relationship between the translation vector and the output orientation matrix is:

`location` = –`translationVector`*`rotationMatrix`'

## Version History

Introduced in R2016b