relative_state_from_points Class Reference

Generates transformaton matrix and offset plus camera parameters from points. More...

#include <sc_relative_state_from_points.h>

Public Member Functions
	relative_state_from_points (void)
	Constructor.
void	update (const ml_matrix &rW, const ml_matrix &rF)
	Update. More...
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.

Detailed Description

Generates transformaton matrix and offset plus camera parameters from points.

Member Function Documentation

update()

void relative_state_from_points::update	(	const ml_matrix &	rW,
		const ml_matrix &	rF
	)

Update.

Update the measurement vector.

Parameters

rW	The 3xn world points
rF	The 2xn focal plane points