20
Solve another linear system.
10. We have tx
and ty and the 9
rotation parameters.
Next step
is to find tz and f.
Form
a matrix A´ whose rows are:
ai´ = (r21*xi + r22*yi + ty,
vi)
and a vector b´ whose rows
are:
bi´ = (r31*xi + r32*yi) * vi
11. Solve A´*v = b´ for v = (f, tz).