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:
706 bytes
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1 | % Q = vgg_line3d_Ppv(P) Transforms a camera matrix to use it with Pluecker vector 3d line representation.
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2 | %
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3 | % P ... double(3,4), ordinary camera matrix
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4 | % Q ... double(6,3), transformed camera matrix (quadratic function of elements of P)
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5 | % such that the projection of a 3d line by the camera is given by
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6 | %
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7 | % l = Q*L
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8 | %
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9 | % where l is 1-by-3 image line vector, and L is 1-by-6 Pluecker vector of the 3d line.
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10 |
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11 | % T.Werner
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12 |
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13 | function Q = vgg_line3d_Ppv(P)
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14 |
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15 | K = size(P,1)/3;
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16 | i1 = 1:3:3*K;
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17 | i2 = 2:3:3*K;
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18 | i3 = 3:3:3*K;
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19 |
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20 | Q(:,i1) = vgg_line3d_pv_from_XY(P(i2,:)',P(i3,:)')';
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21 | Q(:,i2) = vgg_line3d_pv_from_XY(P(i3,:)',P(i1,:)')';
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22 | Q(:,i3) = vgg_line3d_pv_from_XY(P(i1,:)',P(i2,:)')';
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23 |
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24 | return |
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