用matlab写一个函数,实现如下功能:输入布尔萨七参数转换参数和一个坐标系点的XYZ坐标,输出转换后的坐标
时间: 2024-05-23 11:14:47 浏览: 138
function [x_out,y_out,z_out] = BursaTransform(bursa_params,x_in,y_in,z_in)
% 输入参数:
% bursa_params:1x7的矩阵,包括3个平移参数、3个旋转角度和1个比例因子
% x_in,y_in,z_in:待转换点的XYZ坐标
%
% 输出参数:
% x_out,y_out,z_out:转换后的坐标
% 将旋转角度转换为弧度
phi = bursa_params(4) / 3600 * pi / 180;
omg = bursa_params(5) / 3600 * pi / 180;
kappa = bursa_params(6) / 3600 * pi / 180;
% 构造旋转矩阵
R = [cos(omg)*cos(kappa), -cos(phi)*sin(kappa)+sin(phi)*sin(omg)*cos(kappa), sin(phi)*sin(kappa)+cos(phi)*sin(omg)*cos(kappa);
cos(omg)*sin(kappa), cos(phi)*cos(kappa)+sin(phi)*sin(omg)*sin(kappa), -sin(phi)*cos(kappa)+cos(phi)*sin(omg)*sin(kappa);
-sin(omg), sin(phi)*cos(omg), cos(phi)*cos(omg)];
% 计算转换后的坐标
x_out = bursa_params(7) * (R(1,1)*x_in + R(1,2)*y_in + R(1,3)*z_in) + bursa_params(1);
y_out = bursa_params(7) * (R(2,1)*x_in + R(2,2)*y_in + R(2,3)*z_in) + bursa_params(2);
z_out = bursa_params(7) * (R(3,1)*x_in + R(3,2)*y_in + R(3,3)*z_in) + bursa_params(3);
end
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