[−][src]Function opencv::sfm::k_rt_from_projection

pub fn k_rt_from_projection(
    p: &dyn ToInputArray, 
    k: &mut dyn ToOutputArray, 
    r: &mut dyn ToOutputArray, 
    t: &mut dyn ToOutputArray
) -> Result<()>

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