Home > General-Functions > Geometry > calc_depth_central_xs_RZ.m

calc_depth_central_xs_RZ

PURPOSE ^

% get depth for central camera given extrinsic parameters explicite

SYNOPSIS ^

function d = calc_depth_central_xs_RZ(X,R,Z,xs)

DESCRIPTION ^

% get depth for central camera given extrinsic parameters explicite 
 and normalized image image directions

 Usage:
   d = calc_depth_central_xs(X,R,Z,xs)

   X  - 4-vector of 3D point
   R  - 3x3 matrix of rotation
   Z  - 3x1-vector of projection centre
   xs - 3x1-vector of direction, normalized

   d - depth, is positive if point is in front of camera

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

 See also calc_depth_central_x, calc_depth_central_xs, calc_depth_perspective

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %% get depth for central camera given extrinsic parameters explicite
0002 % and normalized image image directions
0003 %
0004 % Usage:
0005 %   d = calc_depth_central_xs(X,R,Z,xs)
0006 %
0007 %   X  - 4-vector of 3D point
0008 %   R  - 3x3 matrix of rotation
0009 %   Z  - 3x1-vector of projection centre
0010 %   xs - 3x1-vector of direction, normalized
0011 %
0012 %   d - depth, is positive if point is in front of camera
0013 %
0014 % Wolfgang Förstner 4/2013
0015 % wfoerstn@uni-bonn.de
0016 %
0017 % See also calc_depth_central_x, calc_depth_central_xs, calc_depth_perspective
0018 
0019 function d = calc_depth_central_xs_RZ(X,R,Z,xs)
0020 
0021 d = xs'*R*(X(1:3)/X(4)-Z);

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