Home > General-Functions > Geometry > calc_depth_central_x.m

calc_depth_central_x

PURPOSE ^

% get depth for central camera

SYNOPSIS ^

function d = calc_depth_central_x(X,P,x)

DESCRIPTION ^

% get depth for central camera

 Usage:
   d = calc_depth_central_xs(X,P,x)

   X  - 4-vector of 3D point
   P  - 3x4 projection matrix
   x  - 3x1-vector of direction of camera 

   d - depth, is positive if point is in front of camera
                 (similar direction as x)

 Wolfgang Förstner 4/2013
 wfoerstn@uni-bonn.de 

 See also calc_depth_central_xs, calc_depth_central_xs_RZ, calc_depth_perspective

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %% get depth for central camera
0002 %
0003 % Usage:
0004 %   d = calc_depth_central_xs(X,P,x)
0005 %
0006 %   X  - 4-vector of 3D point
0007 %   P  - 3x4 projection matrix
0008 %   x  - 3x1-vector of direction of camera
0009 %
0010 %   d - depth, is positive if point is in front of camera
0011 %                 (similar direction as x)
0012 %
0013 % Wolfgang Förstner 4/2013
0014 % wfoerstn@uni-bonn.de
0015 %
0016 % See also calc_depth_central_xs, calc_depth_central_xs_RZ, calc_depth_perspective
0017 
0018 
0019 function d = calc_depth_central_x(X,P,x)
0020 
0021 [K,~,~,~] = calc_KRZ_from_P(P,-1);
0022 
0023 d = x'*P*X / norm(inv(K)*x);

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