source:
proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/third_party/torr/torr_PfromF.m
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1 | % By Philip Torr 2002 |
2 | % copyright Microsoft Corp. |
3 | |
4 | %gets two P matrcies from an F |
5 | function [P1,P2] = torr_PfromF(FMat,m3) |
6 | |
7 | t = torr_get_right_epipole(FMat,m3); |
8 | |
9 | T = [0 -t(3) t(2); t(3) 0 -t(1); -t(2) t(1) 0]; |
10 | M = T * FMat; |
11 | |
12 | |
13 | P1 = [1 0 0 0; 0 1 0 0; 0 0 1 0]; |
14 | |
15 | P2 = [M';t']'; |
16 | |
17 | |
18 | |
19 | |
20 |
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