Submitted version of the thesis - Airlab, the Artificial Intelligence ...

B.3. Object’s Position Calculator 123
% Translation vector :
% position of chesboard in camera reference system
Tc ext = [ 17.929188 −0.849442 64.715079 ];
% Rotation matrix :
Rc ext = [ −0.042070 −0.998317 −0.039914
−0.614786 0.057357 −0.786605
0.787571 −0.008554 −0.616165 ];
%transformation of camera to chess board
T cch=[Rc ext Tc ext ’];
H0=[eye(3) [0 0 0] ’];
% the position of the origin
image point = [81 62 1] ’;
%K −calibration matrix
K=[191.71462 0 80.35911
0 191.27299 61.27650
0 0 1 ];
% T rch indicates the transformation robot to chess board
% x,y,z the distance of the chess board from the robots center in mm.
x=600;
y=0;
z=0;
T rch =[1 0 0 x
0 1 0 y
0 0 1 z ];
%transformation are rewritten for clarification
% camera to world
T cw =[T cch;0 0 0 1];
%world to camera
T wc = inv(T cw);
%world to robot
T wr =[T rch;0 0 0 1];
% robot to world
T rw = inv(T wr);