projection_matrix.cpp
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00001 /*
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00037 
00038 #include <pcl/common/projection_matrix.h>
00039 
00041 void 
00042 pcl::getCameraMatrixFromProjectionMatrix (
00043     const Eigen::Matrix<float, 3, 4, Eigen::RowMajor>& projection_matrix, 
00044     Eigen::Matrix3f& camera_matrix)
00045 {
00046   Eigen::Matrix3f KR = projection_matrix.topLeftCorner <3, 3> ();
00047 
00048   Eigen::Matrix3f KR_KRT = KR * KR.transpose ();
00049   
00050   Eigen::Matrix3f cam = KR_KRT / KR_KRT.coeff (8);
00051 
00052   memset (&(camera_matrix.coeffRef (0)), 0, sizeof (Eigen::Matrix3f::Scalar) * 9);
00053   camera_matrix.coeffRef (8) = 1.0;
00054   
00055   if (camera_matrix.Flags & Eigen::RowMajorBit)
00056   {
00057     camera_matrix.coeffRef (2) = cam.coeff (2);
00058     camera_matrix.coeffRef (5) = cam.coeff (5);
00059     camera_matrix.coeffRef (4) = static_cast<float> (sqrt (cam.coeff (4) - cam.coeff (5) * cam.coeff (5)));
00060     camera_matrix.coeffRef (1) = (cam.coeff (1) - cam.coeff (2) * cam.coeff (5)) / camera_matrix.coeff (4);
00061     camera_matrix.coeffRef (0) = static_cast<float> (sqrt (cam.coeff (0) - camera_matrix.coeff (1) * camera_matrix.coeff (1) - cam.coeff (2) * cam.coeff (2)));
00062   }
00063   else
00064   {
00065     camera_matrix.coeffRef (6) = cam.coeff (2);
00066     camera_matrix.coeffRef (7) = cam.coeff (5);
00067     camera_matrix.coeffRef (4) = static_cast<float> (sqrt (cam.coeff (4) - cam.coeff (5) * cam.coeff (5)));
00068     camera_matrix.coeffRef (3) = (cam.coeff (1) - cam.coeff (2) * cam.coeff (5)) / camera_matrix.coeff (4);
00069     camera_matrix.coeffRef (0) = static_cast<float> (sqrt (cam.coeff (0) - camera_matrix.coeff (3) * camera_matrix.coeff (3) - cam.coeff (2) * cam.coeff (2)));
00070   }
00071 }
00072 


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:31:34