Ascension laserBIRD, Инструкция по установке и эксплуатации

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laserBIRD™ Installation and Operation Guide
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MATRIX
ASCII HEX DECIMAL BINARY
Command Byte X 58 88 01011000
The MATRIX mode outputs the 9 elements of the rotation matrix that define the orientation of the
sensor's X, Y, and Z axes with respect to the Scanner's X, Y, and Z axes. If you want a three-
dimensional image to follow the rotation of the sensor, you must multiply your image coordinates
by this output matrix.
The nine elements of the output matrix are defined generically by:
 

M(1,1) M(1,2) M(1,3)

 
 

M(2,1) M(2,2) M(2,3)

 
 

M(3,1) M(3,2) M(3,3)

 
Or in terms of the rotation angles about each axis
where Z = Zang, Y = Yang and X = Xang:
 

COS(Y)*COS(Z) COS(Y)*SIN(Z) -SIN(Y)

 
 

-COS(X)*SIN(Z) COS(X)*COS(Z)


+SIN(X)*SIN(Y)*COS(Z) +SIN(X)*SIN(Y)*SIN(Z) SIN(X)*COS(Y)

 
 

SIN(X)*SIN(Z) -SIN(X)*COS(Z)


+COS(X)*SIN(Y)*COS(Z) +COS(X)*SIN(Y)*SIN(Z) COS(X)*COS(Y)

 