// Find matrix rotation between two spaces
cv::Mat RTFinderTrilateration::findMatrixRotation(const Triple data)
{
cv::Mat b(3, 3, CV_32FC1);
cv::Mat r(3, 3, CV_32FC1);
cv::Mat A(3, 3, CV_32FC1);
for (int i = 0;i<3 ; i++)
{
A.at<float>(i,0) = data.getPoint3d(0,i).x;
A.at<float>(i,1) = data.getPoint3d(0,i).y;
A.at<float>(i,2) = data.getPoint3d(0,i).z;
}
for (int i = 0;i<3 ; i++)
{
b.at<float>(i,0) = data.getPoint3d(1,i).x - data.translation_vector.x;
b.at<float>(i,1) = data.getPoint3d(1,i).y - data.translation_vector.y;
b.at<float>(i,2) = data.getPoint3d(1,i).z - data.translation_vector.z;
}
for (int i = 0; i < 3; ++i)
cv::solve(A, b.col(i), r.col(i), cv::DECOMP_SVD);
return r;
}
