Generates transformaton matrix and offset plus camera parameters from points.
Public Member Functions | |
relative_state_from_points (void) | |
Constructor. | |
void | update (const ml_matrix &rW, const ml_matrix &rF) |
Update. | |
ml_matrix | get_transformation_matrix () |
Return the transformation matrix. | |
ml_matrix | get_offset () |
Find the offset. | |
double | get_f_x () |
Get the x focal length. | |
double | get_f_y () |
Get the y focal length. |
void relative_state_from_points::update | ( | const ml_matrix & | rW, |
const ml_matrix & | rF | ||
) |
Update the measurement vector.
rW | The 3xn world points |
rF | The 2xn focal plane points |