Esempio n. 1
0
void MVS::DecomposeProjectionMatrix(const PMatrix& P, RMatrix& R, CMatrix& C)
{
	#ifndef _RELEASE
	KMatrix K;
	DecomposeProjectionMatrix(P, K, R, C);
	ASSERT(K.IsEqual(Matrix3x3::IDENTITY));
	#endif
	// extract camera center as the right null vector of P
	const Vec4 hC(P.RightNullVector());
	C = (const CMatrix&)hC * INVERT(hC[3]);
	// get rotation
	const cv::Mat mP(3,4,cv::DataType<REAL>::type,(void*)P.val);
	mP(cv::Rect(0,0, 3,3)).copyTo(R);
	ASSERT(R.IsValid());
} // DecomposeProjectionMatrix
Esempio n. 2
0
// decomposition of projection matrix into KR[I|-C]: internal calibration ([3,3]), rotation ([3,3]) and translation ([3,1])
// (comparable with OpenCV: normalized cv::decomposeProjectionMatrix)
void MVS::DecomposeProjectionMatrix(const PMatrix& P, KMatrix& K, RMatrix& R, CMatrix& C)
{
	// extract camera center as the right null vector of P
	const Vec4 hC(P.RightNullVector());
	C = (const CMatrix&)hC * INVERT(hC[3]);
	// perform RQ decomposition
	const cv::Mat mP(3,4,cv::DataType<REAL>::type,(void*)P.val);
	cv::RQDecomp3x3(mP(cv::Rect(0,0, 3,3)), K, R);
	// normalize calibration matrix
	K *= INVERT(K(2,2));
	// ensure positive focal length
	if (K(0,0) < 0) {
		ASSERT(K(1,1) < 0);
		NEGATE(K(0,0));
		NEGATE(K(1,1));
		NEGATE(K(0,1));
		NEGATE(K(0,2));
		NEGATE(K(1,2));
		(TMatrix<REAL,2,3>&)R *= REAL(-1);
	}
	ASSERT(R.IsValid());
} // DecomposeProjectionMatrix