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upgrade_euclid

PURPOSE ^

UPGRADE_EUCLID upgrades to the euclidean reconstruction

SYNOPSIS ^

function [ Xe Re Te K ] = upgrade_euclid( Xp, Pp )

DESCRIPTION ^

 UPGRADE_EUCLID upgrades to the euclidean reconstruction

 This function upgrades the projective reconstruction to the euclidean
 reconstruction by recovering the absolute quadric.

 Input:
       Xp - projective 3d location of points (4xn)
       Pp - projection matrices              (3x4xm)

 Output:
       Xe - Euclidean 3d location of points (4xn)
       Re - camera rotation matrix          (3x3xm)
       Te - camera translation vector       (3xm)
       K  - camera calibration matrix       (3x3xm)

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:
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