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[37] | 1 | % By Philip Torr 2002
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| 2 | % copyright Microsoft Corp.
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| 3 | function [P1, P2] = torr_RCT2P(C,R,t)
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| 4 |
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| 5 |
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| 6 | %next establish the four possible camera matrix pairs as points out in Maybank, Hartley & zisserman etc
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| 7 | %first camera is 3x4 at origin of the world system.
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| 8 | P1 = [C'; 0,0,0]' * sign(det(C));
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| 9 |
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| 10 | %given this there are four choices for the second, we normalize them so that the
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| 11 | %determinant of the first 3x3 is greater than zero, this is useful for determining chierality later
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| 12 | P2 = C * [ R'; t']' * sign(det(C)) * sign(det(R)); |
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