22 lines
427 B
Matlab
22 lines
427 B
Matlab
function Tr = mstep_update_transl(P, S_bar, V, E_z, RO)
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% Tr = mstep_update_transl(P, S_bar, V, E_z, RO)
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% Updates translation using Eq 23
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[K, T] = size(E_z);
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J = size(S_bar, 2);
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Tr = zeros(T, 2);
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for t = 1:T,
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Sdef = S_bar;
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for kk = 1:K,
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Sdef = Sdef + E_z(kk,t)*V((kk-1)*3+[1:3],:);
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end;
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R_t = RO{t};
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XY = R_t(1:2,:)*Sdef;
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t_t = sum(P([t t+T], :) - XY, 2)./J;
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Tr(t, :) = t_t';
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end
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