# Revision history [back]

### Viz: How to Affine Transform a Point3D with R & T vectors?

I'm trying to find the Location of a Camera in 3D in the world coordinates! I specify the pose of the camera like this!

How can I get the Location of the camera from the pose "Affine3d "? Note that the Origin is located at Point3d(0,0,0). Do I need to compute this manually? If yes How to transform the Point?

    Mat RotationVector(1,3,CV_64FC1,Scalar(0.0));
Mat TranslationVector(3,1,CV_64FC1,Scalar(1.0));
Affine3d AffineTransform= Affine3d(RotationVector,TranslationVector);

cout << "RotationVector: \n"        << RotationVector <<endl;
cout << "TranslationVector: \n "    << TranslationVector <<endl;
cout << "AffineTransform: \n"       << AffineTransform.matrix <<endl;


### Viz: How to Affine Transform a Point3D with R & T vectors?

I'm trying to simulate the movement of camera in 3D using OpenCV Viz module. I want to find the Location of a Camera in 3D in the world coordinates! I specify the pose of the camera like this!

How can I get the Location of the camera from the pose "Affine3d "? Note that the Origin is located at Point3d(0,0,0). Do I need to compute this manually? If yes How to transform the Point?

    Mat RotationVector(1,3,CV_64FC1,Scalar(0.0));
Mat TranslationVector(3,1,CV_64FC1,Scalar(1.0));
Affine3d AffineTransform= Affine3d(RotationVector,TranslationVector);

cout << "RotationVector: \n"        << RotationVector <<endl;
cout << "TranslationVector: \n "    << TranslationVector <<endl;
cout << "AffineTransform: \n"       << AffineTransform.matrix <<endl;