【Computer vision】摄像机矩阵的分解

计算程序：

%% 例5.2 p109clcclearclose allp1 = [3.53553e2; -1.03528e2; 7.07107e-1];p2 = [3.39645e2; 2.33212e1; -3.53553e-1];p3 = [2.77744e2; 4.59607e2; 6.12372e-1];p4 = [-1.44946e6; -6.32525e5 ;-9.18559e2];P = [p1,p2,p3,p4];% 求解摄像机中心CX = det([p2,p3,p4]); Y = -det([p1,p3,p4]);Z = det([p1,p2,p4]); T = -det([p1,p2,p3]);C_ = [X/T;Y/T;Z/T];% 求解摄像机定向和内部参数[K, R, t] = vgg_KR_from_P(P);

结果：

MATLAB程序包：http://download.csdn.net/download/j_d_c/9972687