Function opencv::sfm::k_rt_from_projection

source · 
pub fn k_rt_from_projection(
    p: &impl ToInputArray,
    k: &mut impl ToOutputArray,
    r: &mut impl ToOutputArray,
    t: &mut impl ToOutputArray
) -> Result<()>
Expand description

Get K, R and t from projection matrix P, decompose using the RQ decomposition.

§Parameters

  • P: Input 3x4 projection matrix.
  • K: Output 3x3 camera matrix inline formula.
  • R: Output 3x3 rotation matrix.
  • t: Output 3x1 translation vector.

Reference: HartleyZ00 A4.1.1 pag.579