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[37] | 1 | % By Philip Torr 2002
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| 2 | % copyright Microsoft Corp.
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| 3 |
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| 4 |
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| 5 |
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| 6 | %
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| 7 | % %here p is the set of paramets such that
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| 8 | % g(1) = focal length
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| 9 | % g(2-3) sperical coordinates of rotation axis
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| 10 | % g(4) rotation angle
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| 11 | % g(5-6) is the translation vector
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| 12 |
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| 13 |
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| 14 |
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| 15 | function [P1, P2] = torr_g2FP(g,C)
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| 16 |
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| 17 | %convert intrinsic and extinsics to a F matrix
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| 18 | C(3,3) = 1/g(1);
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| 19 | rot_axis = torr_sphere2unit([g(2) g(3)]);
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| 20 | tt = torr_sphere2unit([g(5) g(6)]);
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| 21 | rot_angle = g(4);
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| 22 |
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| 23 | %Rogregues
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| 24 | II = [1 0 0; 0 1 0; 0 0 1];
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| 25 | AX = torr_skew_sym(rot_axis);
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| 26 | RR = cos(rot_angle) * II +sin(rot_angle) * AX + (1 - cos(rot_angle)) * rot_axis * rot_axis';
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| 27 | %
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| 28 | % TX = torr_skew_sym(tt);
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| 29 | % nnE = TX * RR;
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| 30 | %
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| 31 | % F = inv(C') * nnE * inv(C);
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| 32 | % f = reshape(F',9,1);
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| 33 |
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| 34 | [P1, P2] = torr_RCT2P(C,RR,tt); |
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