Each point [a;b;c] in camera coordinate will be multiplied by the rotation matrix to get the coordinate in wc. What the multiplication actually does is-it gets the linear combination of a,b,c with each n1_x, n2_x, n3_x to get the new a_wc in world coordinate. It finds the other two b_wc, c_wc in a similar linear combination.
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Each point [a;b;c] in camera coordinate will be multiplied by the rotation matrix to get the coordinate in wc.
What the multiplication actually does is-it gets the linear combination of a,b,c with each n1_x, n2_x, n3_x to get the new a_wc in world coordinate. It finds the other two b_wc, c_wc in a similar linear combination.
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