Rigid3d Tutorial -

For this tutorial, we'll use the (C++) or scipy.spatial.transform.Rotation (Python). If you're working with ROS, tf2::Transform is analogous.

SE3d T_base_ee = get_forward_kinematics(); SE3d T_ee_cam = get_camera_extrinsics(); SE3d T_base_cam = T_base_ee * T_ee_cam; rigid3d tutorial