Decomposes a projection matrix into a rotation matrix and a camera matrix

[cameraMatrix,rotMatrix,transVect] = cv.decomposeProjectionMatrix(projMatrix)
[cameraMatrix,rotMatrix,transVect,S] = cv.decomposeProjectionMatrix(projMatrix)

Input

• projMatrix 3x4 input projection matrix P.

Output

• cameraMatrix 3x3 camera matrix K.
• rotMatrix 3x3 external rotation matrix R.
• transVect 4x1 translation vector T.
• S Optional output struct with the following fields:
  • rotMatrX 3x3 rotation matrix around x-axis.
  • rotMatrY 3x3 rotation matrix around y-axis.
  • rotMatrZ 3x3 rotation matrix around z-axis.
  • eulerAngles 3-element vector containing three Euler angles of rotation in degrees.

The function computes a decomposition of a projection matrix into a calibration and a rotation matrix and the position of a camera.

It optionally returns three rotation matrices, one for each axis, and three Euler angles that could be used in OpenGL. Note, there is always more than one sequence of rotations about the three principal axes that results in the same orientation of an object, eg. see [Slabaugh]. Returned three rotation matrices and corresponding three Euler angles are only one of the possible solutions.

The function is based on cv.RQDecomp3x3

References

[Slabaugh]:

Gregory G Slabaugh. "Computing euler angles from a rotation matrix". Retrieved on August, 6:2000, 1999.