Home > General-Functions > Geometry > calc_depth_central_xs.m

calc_depth_central_xs

PURPOSE ^

% get depth for central camera and normalized image image directions

SYNOPSIS ^

function d = calc_depth_central_xs(X,P,xs)

DESCRIPTION ^

% get depth for central camera and normalized image image directions

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

   X  - 4-vector of  3D point
   P  - 3x4 projection matrix
   xs - 3x1-vector of direction of camera, normalized

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

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

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

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