🟧 Sphere Fitting Result Generate Pose

Function Description

This operator can calculate average size (average distance between sphere centers) and pose matrix (including rotation and translation) through pose information of three spheres, i.e., sphere center positions, to generate pose matrix.

Usage Scenarios

Suitable for three-sphere calibration board positioning scenarios.

Input Output

Input

Sphere Parameters: Parameter list containing three spheres, each sphere parameter being [center.x, center.y, center.z, radius], totaling n*4 list.

Output

Current Size: Average distance between the three sphere centers, representing object size.

Current Pose Matrix: 4x4 pose matrix including rotation matrix (derived from sphere center positions) and translation vector (average sphere center position).