public static void projectiveToMetric ( DMatrixRMaj cameraMatrix , DMatrixRMaj H , Se3_F64 worldToView , DMatrixRMaj K ) { DMatrixRMaj tmp = new DMatrixRMaj ( 3 , 4 ) ; CommonOps_DDRM . mult ( cameraMatrix , H , tmp ) ; MultiViewOps . decomposeMetricCamera ( tmp , K , worldToView ) ; }
Elevates a projective camera matrix into a metric one using the rectifying homography . Extracts calibration and Se3 pose .