------------------------------------------------------------------------------- Finds the transformation matrix and relative position given at least 7 points in the world and the corresponding points in the imager. It also computes the focal plane parameters. ------------------------------------------------------------------------------- Form: [b, t, fX, fY] = RelativeStateFromPoints( rW, rF ) ------------------------------------------------------------------------------- ------ Inputs ------ rW (3,:) Points in the world frame rF (2,:) Same points in the imager plane ------- Outputs ------- b (3,3) Transform matrix t (3,1) Offset fX (1,1) X focal length/imager x width fY (1,1) Y focal length/imager y width -------------------------------------------------------------------------------