?? vgg_line3d_ppv.m
字號:
% Q = vgg_line3d_Ppv(P) Transforms a camera matrix to use it with Pluecker vector 3d line representation.
%
% P ... double(3,4), ordinary camera matrix
% Q ... double(6,3), transformed camera matrix (quadratic function of elements of P)
% such that the projection of a 3d line by the camera is given by
%
% l = Q*L
%
% where l is 1-by-3 image line vector, and L is 1-by-6 Pluecker vector of the 3d line.
% T.Werner
function Q = vgg_line3d_Ppv(P)
K = size(P,1)/3;
i1 = 1:3:3*K;
i2 = 2:3:3*K;
i3 = 3:3:3*K;
Q(:,i1) = vgg_line3d_pv_from_XY(P(i2,:)',P(i3,:)')';
Q(:,i2) = vgg_line3d_pv_from_XY(P(i3,:)',P(i1,:)')';
Q(:,i3) = vgg_line3d_pv_from_XY(P(i1,:)',P(i2,:)')';
return
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