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cui
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How to calculate the camera intrinsics K , rotation matrix R and translation vector T through the camera projection matrix?

Asked by cui
on 17 Jul 2019
Latest activity Edited by cui
on 17 Jul 2019
I see the official document that the Matlab R2019a version already supports estimating the camera projection matrix, The condition is that at least 6 sets of points in the same plane can be solved, but the problem is whether the camera matrix P can be inferred to obtain the camera intrinsics K, the rotation matrix R, and the translation. Vector T?
I saw that a third party has a function to decompose it. I don't know if it is reliable. I pose here:
function [K, Rc_w, Pc, pp, pv] = DecomposeCamera(P)
% DECOMPOSECAMERA Decomposition of a camera projection matrix
%
% Usage: [K, Rc_w, Pc, pp, pv] = decomposecamera(P);
%
% P is decomposed into the form P = K*[R -R*Pc]
%
% Argument: P - 3 x 4 camera projection matrix
% Returns:
% K - Calibration matrix of the form
% | ax s ppx |
% | 0 ay ppy |
% | 0 0 1 |
%
% Where:
% ax = f/pixel_width and ay = f/pixel_height,
% ppx and ppy define the principal point in pixels,
% s is the camera skew.
% Rc_w - 3 x 3 rotation matrix defining the world coordinate frame
% in terms of the camera frame. Columns of R transposed define
% the directions of the camera X, Y and Z axes in world
% coordinates.
% Pc - Camera centre position in world coordinates.
% pp - Image principal point.
% pv - Principal vector from the camera centre C through pp
% pointing out from the camera. This may not be the same as
% R'(:,3) if the principal point is not at the centre of the
% image, but it should be similar.
%
% See also: RQ3
% Reference: Hartley and Zisserman 2nd Ed. pp 155-164
% Copyright (c) 2010 Peter Kovesi
% Centre for Exploration Targeting
% School of Earth and Environment
% The University of Western Australia
% peter.kovesi at uwa edu au
%
% Permission is hereby granted, free of charge, to any person obtaining a copy
% of this software and associated documentation files (the "Software"), to deal
% in the Software without restriction, subject to the following conditions:
%
% The above copyright notice and this permission notice shall be included in
% all copies or substantial portions of the Software.
%
% October 2010 Original version
% November 2013 Description of rotation matrix R corrected (transposed)
% Projection matrix from Hartley and Zisserman p 163 used for testing
if ~exist('P','var')
P = [ 3.53553e+2 3.39645e+2 2.77744e+2 -1.44946e+6
-1.03528e+2 2.33212e+1 4.59607e+2 -6.32525e+5
7.07107e-1 -3.53553e-1 6.12372e-1 -9.18559e+2];
end
% Convenience variables for the columns of P
p1 = P(:,1);
p2 = P(:,2);
p3 = P(:,3);
p4 = P(:,4);
M = [p1 p2 p3];
m3 = M(3,:)';
% Camera centre, analytic solution
X = det([p2 p3 p4]);
Y = -det([p1 p3 p4]);
Z = det([p1 p2 p4]);
T = -det([p1 p2 p3]);
Pc = [X;Y;Z;T];
Pc = Pc/Pc(4);
Pc = Pc(1:3); % Make inhomogeneous
% Pc = null(P,'r'); % numerical way of computing C
% Principal point
pp = M*m3;
pp = pp/pp(3);
pp = pp(1:2); % Make inhomogeneous
% Principal ray pointing out of camera
pv = det(M)*m3;
pv = pv/norm(pv);
% Perform RQ decomposition of M matrix. Note that rq3 returns K with +ve
% diagonal elements, as required for the calibration matrix.
[K,Rc_w] = RQ3(M);
% Check that R is right handed, if not give warning
if dot(cross(Rc_w(:,1), Rc_w(:,2)), Rc_w(:,3)) < 0
warning('Note that rotation matrix is left handed');
end
subfunction is here:
function [R,Q] = RQ3(A)
% RQ3 RQ decomposition of 3x3 matrix
%
% Usage: [R,Q] = rq3(A)
%
% Argument: A - 3 x 3 matrix
% Returns: R - Upper triangular 3 x 3 matrix
% Q - 3 x 3 orthonormal rotation matrix
% Such that R*Q = A
%
% The signs of the rows and columns of R and Q are chosen so that the diagonal
% elements of R are +ve.
%
% See also: DECOMPOSECAMERA
% Follows algorithm given by Hartley and Zisserman 2nd Ed. A4.1 p 579
% Copyright (c) 2010 Peter Kovesi
% Centre for Exploration Targeting
% School of Earth and Environment
% The University of Western Australia
% peter.kovesi at uwa edu au
%
% Permission is hereby granted, free of charge, to any person obtaining a copy
% of this software and associated documentation files (the "Software"), to deal
% in the Software without restriction, subject to the following conditions:
%
% The above copyright notice and this permission notice shall be included in
% all copies or substantial portions of the Software.
%
% October 2010
% February 2014 Incorporated modifications suggested by Mathias Rothermel to
% avoid potential division by zero problems
if ~all(size(A)==[3 3])
error('A must be 3x3');
end
eps = 1e-10;
% Find rotation Qx to set A(3,2) to 0
A(3,3) = A(3,3) + eps;
c = -A(3,3)/sqrt(A(3,3)^2+A(3,2)^2);
s = A(3,2)/sqrt(A(3,3)^2+A(3,2)^2);
Qx = [1 0 0; 0 c -s; 0 s c];
R = A*Qx;
% Find rotation Qy to set A(3,1) to 0
R(3,3) = R(3,3) + eps;
c = R(3,3)/sqrt(R(3,3)^2+R(3,1)^2);
s = R(3,1)/sqrt(R(3,3)^2+R(3,1)^2);
Qy = [c 0 s; 0 1 0;-s 0 c];
R = R*Qy;
% Find rotation Qz to set A(2,1) to 0
R(2,2) = R(2,2) + eps;
c = -R(2,2)/sqrt(R(2,2)^2+R(2,1)^2);
s = R(2,1)/sqrt(R(2,2)^2+R(2,1)^2);
Qz = [c -s 0; s c 0; 0 0 1];
R = R*Qz;
Q = Qz'*Qy'*Qx';
% Adjust R and Q so that the diagonal elements of R are +ve
for n = 1:3
if R(n,n) < 0
R(:,n) = -R(:,n);
Q(n,:) = -Q(n,:);
end
end

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