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align_scene

PURPOSE ^

ALIGN_SCENE aligns a scene.

SYNOPSIS ^

function [ T_ Omega_ X_ ] = align_scene( T, Omega, X, TRef, OmegaRef, XRef, ScaleOption )

DESCRIPTION ^

 ALIGN_SCENE aligns a scene.

 This aligns a scene represented by (T, Omega, X) to a reference frame
 (TRef, OmegaRef, XRef). The rotation and translation is aligned so that
 the first frame of T and Omega is same as the first frame of TRef and
 OmegaRef. The scale factor is aligned so that the norm of the norm of
 centroid of X is same as the norm of centroid of XRef.

 When TRef, OmegaRef and XRef are omitted, by default, reference frame
 becomes [R|T] = [I|0], and the norm of centroid of 3d points = 1.
 For example,
 >> [T_ Omega_ X_] = align_scene( T, Omega, X );

 Input:
        T        - camera translation           (3xm)
        Omega    - camera rotation              (3xm)
        X        - 3D point location            (4xn) in homogeneous form
 (Optional)
        TRef     - reference camera translation (3xm)
        OmegaRef - reference camera rotation    (3xm)
        XRef     - reference 3d point location  (4xn) in homogeneous form

        ScaleOption - set the scale factor ( 'centroid', 'translation' )

 Output:
        T_       - aligned camera translation   (3xm)
        Omega_   - aligned camera rotation      (3xm)
        X_       - aligned 3D point location    (4xn) in homogeneous form

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:
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