How to calculate R,T between C1 and C2? / matlab source / 두 대의 카메라 Rotation, Translation은 어떻게 계산할까?

 Created Date : 2011.8
Language : matlab
Tool : matlab
Library & Utilized : rodrigues function (Jean-Yves Bouguet)
Reference : -
Etc. : -

There are two camera. These camera is arranged as reference of O.
Rotation and Translation of C1 is 

R1 =  -0.009064 0.985541 -0.169195
       0.969714 -0.032636 -0.242051
      -0.244074 -0.166265 -0.955397

T1 = 4.684369

And Rotation and Translation of C2 is

R2 =  0.078149 0.984739 -0.155505
      0.971378 -0.040117 0.234128
      0.224317 -0.169351 -0.959688

T2 = -10.151448

So, What is R, T between C1, C2?

wR = R2*inv(R1);
wT = T2-T1;

This matlab code show this process.
We get wR, wT. And C1 is rotated and Translated by wR, wT. Then, the axis of C1 is laid on C2 exactly. 

<source code>

두 개의 카메라가 원점을 기준으로 있다.
C1 카메라의 R,T가 있고 C2카메라의 R,T가 원점을 기준으로 있을때, C1과 C2 사이의 R, T는 어떻게 될까? 다음과 같이 간단하게 계산이 가능하다.

wR = R2*inv(R1);
wT = T2-T1;

이 매트랩 소스 코드는 C1, C2 사이의 R,T를 구하고 그 R,T를 이용해서 C1을 C2로 정확히 옮겨짐을 확인하는 소스입니다.

<source code>


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