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Calculating the front vector and look at vector

I have got a homogeneous matrix of shape 4x4. How do I retrieve the front vector and the look at vector from the homogeneous matrix?

Following is my homogeneous matrix,

pose = np.array([ 0.23522,-7.0289e-17,-0.97194,-129.54,
0.97194,-7.3988e-17,0.23522,59.464,
-8.8446e-17,-1,5.0913e-17,2.11,
0,0,0,1]).reshape(4,4)
Solution

  • As I cannot post any comments yet, I'll post this as an answer. Take a look at this tutorial. Is this what you need?