How to estimate the Euler Angles (or the corresponding homogeneous 4x4 tform) by use of a known 3x3 projective tform?

I am trying to estimate the euler angles from a projective Transformation Matrix.

knowns: projective-2d tform (3x3), camera's intrinsic matrix

I tried out the tform2eul function (robotics sytem toolbox), but it needs a 4x4 homogeneous tform as input. How can one estimate the 4x4 homogeneous tform by use of the 3x3 projective tform?

If you know other solutions please give me a hint. Thank's

Answer 1

[Sebastian Castro]

Assuming the projective2d transform is doing a rotation about Z and translation about XY, you can probably do the following:

tform3d = [tform.T(1:2,1:2) [0;0] tform.T(1:2,3);
           0 0 0 1]

eul = tform2eul(tform3d)

- Sebastian