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SUPPORT SITE |
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Path: SpacecraftEstimation/RelativeState
% Finds the transformation matrix and relative position given at least
7 points in the world and the corresponding points in the imager.
It also computes the focal plane parameters.
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Form:
[b, t, fX, fY] = RelativeStateFromPoints( rW, rF )
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Inputs
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rW (3,:) Points in the world frame
rF (2,:) Same points in the imager plane
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Outputs
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b (3,3) Transform matrix
t (3,1) Offset
fX (1,1) X focal length/imager x width
fY (1,1) Y focal length/imager y width
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Reference: Trucco, E. and A. Verri, "Introductory Techniques for 3-D
Computer Vision," Prentice-Hall, pp. 125-130.
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Common: Quaternion/Q2Mat Common: Quaternion/QRand Math: Linear/Cross Math: Linear/DupVect Math: Linear/Mag Math: Linear/Unit
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