MATLAB: Motion Detection from Marker

Question

How can I calculate both translation and rotation (with respect to a center of motion) y=R*x+t with R is rotation matrix and t is translation vector from a dedicated marker. I have the time-series (x,y,z) coordinates of three rigid markers connected to the object?

Thanks in advance for advices!! Andy

Answer 1

You can do it using my ABSOR tool ( Download ). So, if you have a matrix of 3 points whose coordinates are known

    A=[xa1,ya1,za1;xa2,ya2,za2;xa3,ya3,za3].'

and some target points after rototraslation of A,

    B=[xb1,yb1,zb1;xb2,yb2,zb2;xb3,yb3,zb3].'

then you can find the rotation/traslation matching A to B with

   params=absor(A,B);
   R=params.R;
   t=params.t;