说明：  程序r_t用来计算两组空间坐标点之间的旋转平移关系。调用方式如下： p1=[x11,x12,...,x1n y11,y12,...,y1n z11,z12,...,z1n] n个控制点在第一个坐标系下的坐标 p2=[x21,x22,...,x2n y21,y22,...,y2n z21,z22,...,z2n] n个控制点在第二个坐标系下的坐标 RT=r_t(p1,p2) 两个坐标系直接的旋转平移关系,表示方式为RT=[R T] 注：p1和p2也可提供齐次坐标
(r_t.m is designed for compulating the rotation/translation matrix of two arrays. For example: p1=[x11,x12,...,x1n y11,y12,...,y1n z11,z12,...,z1n] coordinates of points in coordinate-1 p2=[x21,x22,...,x2n y21,y22,...,y2n z21,z22,...,z2n] coordinates of points in coordinate-1 RT=r_t(p1,p2) rotation/translation matrix between the two coordinates and RT=[R T])