[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 frame (3xN matrix for N points) (om,T): Rigid motion parameters between world coordinate frame and camera reference frame om: rotation vector (3x1 vector) T: translation vector (3x1 vector) OUTPUT: Y: 3D coordinates of the structure points in the camera reference frame (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 frame (stored in the matrix X) The coordinate vector of P in the camera reference frame 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

rigid_motion.m

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