MATLAB File Help: cv.composeRT Index
cv.composeRT

Combines two rotation-and-shift transformations

S = cv.composeRT(rvec1, tvec1, rvec2, tvec2)

Input

Output

The function computes:

rvec3 = rodrigues^-1( rodorigues(rvec2) * rodrigues(rvec1) )
tvec3 = rodrigues(rvec2) * tvec1 + tvec2

where rodrigues denotes a rotation vector to a rotation matrix transformation, and rodrigues^-1 denotes the inverse transformation. See cv.Rodrigues for details.

Also, the function can compute the derivatives of the output vectors with regards to the input vectors (see cv.matMulDeriv). The function us used inside cv.stereoCalibrate but can also be used in your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a function that contains a matrix multiplication.

See also