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The question I'm trying to figure out states that I have $N$ points $$(P_{a1x},P_{a1y}) , (P_{a2x},P_{a2y}),\dots,(P_{aNx},P_{aNx})$$ which correspond to a Pixel plane $xy$ of a camera, and other $N$ points $$(P_{b1w},P_{b1z}), (P_{b2w},P_{b2z}),\dots,(P_{bNw},P_{bNz})$$ which correspond to my $2D$ World Coordinate Frame $wz$.

I've to find the transformation (Rotation + Translation) between these two sets of points so that I can translate the point from the camera space to the world space. I've made a lot of measures and I've got the two set of points, but how should I proceed now ?

2 Answers 2