ComfyUI Node
CV Pose To Matrix
Assembles the rvec + tvec of 'CV Solve PnP' / 'CV ArUco Board Pose' into the transform matrix that moves POINTS between the two frames (cv2.Rodrigues + a concatenation cv2 has no function for). The 3x4 [R|t] feeds 'CV Transform Points 3D': forward maps a point from the pose's object/world frame into the camera frame, inverse maps a camera-frame point (e.g. a stereo point cloud) back into the object/world frame. Failure tolerant: a missing or non-finite pose gives the identity transform, which leaves points where they are.
CV Pose To Matrix
- rvec
- tvec
- matrix_3x4
- matrix_4x4
- rotation
Categoryimage/CV/features
Inputs (2)
| Name | Type | Default | Description |
|---|---|---|---|
| rvec | NPARRAY | 3x1 Rodrigues rotation vector (or a 3x3 rotation matrix, which is passed through). | |
| tvec | NPARRAY | 3x1 translation vector. |
Outputs (3)
| Name | Type | Description |
|---|---|---|
| matrix_3x4 | NPARRAY | [R|t] as a 3x4 float64 matrix. |
| matrix_4x4 | NPARRAY | The same transform as a 4x4 homogeneous matrix (what 'CV ICP Register' and most 3D tools use). |
| rotation | NPARRAY | The 3x3 rotation matrix R on its own. |