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Now what I have is the 3D point sets as well as the projection parameters of the camera. Given two 2D point sets projected from the 3D point by using the camera and transformed camera(by rotation and translation), there should be an intuitive way to estimate the camera motion…I read some parts of Zisserman’s book “Muliple view Geometry in Computer Vision”, but I still did not get the solution..
Are there any hints, how can the rigid motion be estimated in this case?
THANKS!!
What you are looking for is a solution to the PnP problem. OpenCV has a function which should work called solvePnP. Just to be clear, for this to work you need point locations in world space, a camera matrix, and the points projections onto the image plane. It will then tell you the rotation and translation of the camera or points depending on how you choose to think of it.