With reference to Equation 3,, the basic rotation matrix is ![]() There are several different transformations which superimpose the model set on the scene set (or vice versa).įigure 2: Transformation of 3 points, or a point-vector-vector There are two matching point sets or, alternatively, a matching point and two vectors in the model which match two vectors in the scene. Rotation and translation matrices and vectorsįigure 2, below, illustrates the basic problem.
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