please read the task and do the task below;

Figure 1 shows a typical visual servoing configuration for industrial robots. It is known as eye-in-hand configuration that a camera is mounted at the end-effector of the robot. It is a usual practice to use a checker board for camera calibration.

This coursework is a simplified case of this problem. Instead of a checker b oard, we use a fiducial pattern in this case. The relative p ose b etween the workb ench and the camera needs to b e calibrated first using the fiducial pattern at a known p osition.

In this coursework, we assume the initial p osition for the rob ot camera is the origin (0 , 0 , 0). The positive z-axis is the cameras optical axis which intersects with the workbench surface at position D (as depicted in figure 3). The focal length of the camera is 7mm. The workbench surface is parallel to the xy-plane and perpendicular to the z-axis. The distance from the surface to the camera is 500 mm

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Task, Matlab script

Similar to questions above, assuming the camera is moved along the x-axis with a distance of 30 mm and rotated about the y-axis with an angle of 0.3 (radian). Complete the Matlab script fiducialprojection2.m to compute the image-plane coordinates of the vertices on the workbench surface.

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Figure 1: Visual Servo robot (Eye-in-hand configuration) Figure 2: The fiducial image 10cm Figure 3: The fiducial image