Compose Poses from Quaternions and Translation Vectors

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Function

This Step combines the input rotation vectors (in quaternions) and translation vectors into poses.

Usage Scenario

This Step is a general pose creation Step. No fixed usage scenarios.

Input and Output

  • Input:

    1. Rotation vectors (in quaternions) input to this port will be used to compose the poses.

    2. Pose centers (as translation vectors) input to this port will be used to compose the poses.

  • Output:

    1. Poses composed of the input rotation vectors and pose centers

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