Decompose Poses to Quaternions and Translation Vectors

Function Description

Decomposes poses into quaternions and translation vectors.

Use Cases

A general-purpose step for pose decomposition. It is useful when downstream steps require “Rotation Vector” and “Pose Center” inputs.

Inputs

Original Pose: The pose to decompose.

Outputs

Rotation Vector: The pose rotation, expressed as a quaternion.
Pose Center: The pose translation vector.

Parameters

Display Point Cloud in Selected Coordinate System: Controls whether poses are displayed in the robot or camera coordinate system.