Last change
on this file since 177 was
37,
checked in by (none), 15 years ago
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Added original make3d
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Property svn:executable set to
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File size:
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1 | %VGG_KR_FROM_P Extract K, R from camera matrix.
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2 | %
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3 | % [K,R,t] = VGG_KR_FROM_P(P [,noscale]) finds K, R, t such that P = K*R*[eye(3) -t].
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4 | % It is det(R)==1.
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5 | % K is scaled so that K(3,3)==1 and K(1,1)>0. Optional parameter noscale prevents this.
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6 | %
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7 | % Works also generally for any P of size N-by-(N+1).
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8 | % Works also for P of size N-by-N, then t is not computed.
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9 |
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10 |
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11 | % Author: Andrew Fitzgibbon <awf@robots.ox.ac.uk>
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12 | % Modified by werner.
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13 | % Date: 15 May 98
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14 |
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15 |
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16 | function [K, R, t] = vgg_KR_from_P(P, noscale)
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17 |
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18 | N = size(P,1);
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19 | H = P(:,1:N);
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20 |
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21 | [K,R] = vgg_rq(H);
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22 |
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23 | if nargin < 2
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24 | K = K / K(N,N);
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25 | if K(1,1) < 0
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26 | D = diag([-1 -1 ones(1,N-2)]);
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27 | K = K * D;
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28 | R = D * R;
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29 |
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30 | % test = K*R;
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31 | % vgg_assert0(test/test(1,1) - H/H(1,1), 1e-07)
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32 | end
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33 | end
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34 |
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35 | if nargout > 2
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36 | t = -P(:,1:N)\P(:,end);
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37 | end
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38 |
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39 | return |
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