camera.m

来自澳大利亚Qeensland大学的计算机视觉Matlab工具箱。 This Toolbox provides a number of functions that are useful in co

%CAMERA	 Camera imaging model
%
%	uv = CAMERA(C, p)
%	uv = CAMERA(C, p, Tobj)
%
%	Implement the perspective, scaling and offset encapsulated in the
%	camera calibration matrix C.  P is a list of 3D world points and
%	the corresponding image plane points are returned in UV.
%	The data in P is one point per row in X, Y, Z order.
%
%       Tobj is a homogeneous transformation that can be used to transform
%	the points prior to imaging.
%
% SEE ALSO:	gcamera, camcalp, pulnix
%
%	Copyright (c) Peter Corke, 1999  Machine Vision Toolbox for Matlab

%	pic 1993
function uv = camera(C, p, Tobj)

	np = numrows(p);

	% do the camera perspective transform
		
	p = [p'; ones(1, np)];

	% optionally transform all the points
	if nargin == 3,
		p = Tobj * p;
	end
	x = C * p;		% camera transform
	iXY = x(1:2,:) ./ [x(3,:); x(3,:)];
	uv = iXY';