18
Use m to solve for
ty, tx, and 4 rotation parameters
5. Let U = m1 + m2 + m3 + m4 . Use U to calculate ty .
6. Try the
positive square root ty = (ty
) and use it to
compute
translation and rotation parameters.
2
2
2
2
2
2
1/2
r11 = m1 ty
r12 = m2 ty
r21 = m3 ty
r22 = m4 ty
tx = m5 ty
(see text)
Now we know
2 translation parameters and
4 rotation parameters.
except…