From: <HIDDEN>
Newsgroups: comp.soft-sys.matlab
Subject: Re: Homogeneous transform (angles required, matrix not given)
Date: Sat, 24 Jan 2009 20:21:02 +0000 (UTC)
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"Bruno Luong" <b.luong@fogale.findmycountry> wrote in message <glfrf5$kdl$>...
> "Roger Stafford" <> wrote in message <glfqmp$267$>...
> > 
> >   Actually what I gave is a least squares solution, Matt.  If the two triples of points don't exactly match, it automatically gets a solution with the least squares error.
> > 
> Hi Roger,
> I have not read in detail your method, but
> 1. Do you estimate the translation vector? 
> 2. Does the least-square 3x3 matrix is orthogonal?
> It seems that what the article claim to be. It seems like optimal to me, wonder if anyone has implement it using Matlab.

Which article are you refering to, Bruno? 

All methods discussed above ultimately give an orthogonal rotation matrix and a translation vector.

I have implemented Horn's method in MATLAB.  Roger's method is the shortest to code, however, as it works directly in the space of matrices...