calc_P_from_KRZ

% calculates P from K, R and Z
 see PCV (12.34), and additional sign of K33

 Usage:
   P = calc_P_from_KRZ (K,R,Z,[K33])
  
   K   - calibration matrix 
   R   - rotation matrix
   Z   - projection centre
   K33 - sign of K33, optional, default K33 = 1;

   P   - 4 x 3-projection matrix P = K*R*[I|-Z] 

 Wolfgang Förstner
 wfoerstn@uni-bonn.de 

 See also calc_KRZ_from_P, calc_Q_from_P, calc_viewing_direction

0001 %% calculates P from K, R and Z
0002 % see PCV (12.34), and additional sign of K33
0003 %
0004 % Usage:
0005 %   P = calc_P_from_KRZ (K,R,Z,[K33])
0006 %
0007 %   K   - calibration matrix
0008 %   R   - rotation matrix
0009 %   Z   - projection centre
0010 %   K33 - sign of K33, optional, default K33 = 1;
0011 %
0012 %   P   - 4 x 3-projection matrix P = K*R*[I|-Z]
0013 %
0014 % Wolfgang Förstner
0015 % wfoerstn@uni-bonn.de
0016 %
0017 % See also calc_KRZ_from_P, calc_Q_from_P, calc_viewing_direction
0018 
0019 function P = calc_P_from_KRZ (K,R,Z,K33)
0020 
0021 if nargin ==3
0022     K33=1;
0023 end
0024 
0025 P = K*R*[eye(3) -Z]*K33;