刚性位置变化计算，输入物体在空间坐标系中的坐标，以及旋转向量和平移向量，计算其在摄像机坐标系中的坐标。- [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 fr a me (3xN matrix for N points)

　　　　(om,T): Rigid motion parameters between world coordinate fr a me and camera reference fr a me

　　　　　　　　om: rotation vector (3x1 vector)　T: translation vector (3x1 vector)



OUTPUT: Y: 3D coordinates of the structure points in the camera reference fr a me (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 fr a me (stored in the matrix X)

The coordinate vector of P in the camera reference fr a me 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