pvccamera.py 文件源码

def factor(self):
        """    Factorize the camera matrix into K,R,t as P = K[R|t]. """

        # factor first 3*3 part
        K,R = linalg.rq(self.P[:,:3])

        # make diagonal of K positive
        T = diag(sign(diag(K)))
        if linalg.det(T) < 0:
            T[1,1] *= -1

        self.K = dot(K,T)
        self.R = dot(T,R) # T is its own inverse
        self.t = dot(linalg.inv(self.K),self.P[:,3])

        return self.K, self.R, self.t