Description: [Y,dYdom,dYdT] = rigid_motion(X,om,T)
Computes the rigid motion transformation Y = R*X+T, where R = rodrigues(om).
INPUT: X: 3D structure in the world coordinate frame (3xN matrix for N points)
(om,T): Rigid motion parameters between world coordinate frame and camera reference frame
om: rotation vector (3x1 vector) T: translation vector (3x1 vector)
OUTPUT: Y: 3D coordinates of the structure points in the camera reference frame (3xN matrix for N points)
dYdom: Derivative of Y with respect to om ((3N)x3 matrix)
dYdT: Derivative of Y with respect to T ((3N)x3 matrix)
Definitions:
Let P be a point in 3D of coordinates X in the world reference frame (stored in the matrix X)
The coordinate vector of P in the camera reference frame is: Y = R*X+ T
where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om)
Important function called within that program:
rodrigues.m: Computes the
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rigid_motion.m
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