void recomputeQ ( DMatrixRMaj p , DMatrix4x4 Q ) { Equation eq = new Equation ( ) ; DMatrix3x3 K = new DMatrix3x3 ( ) ; encodeK ( K , 0 , 3 , param . data ) ; eq . alias ( p , "p" , K , "K" ) ; eq . process ( "w=K*K'" ) ; eq . process ( "Q=[w , -w*p;-p'*w , p'*w*p]" ) ; DMatrixRMaj _Q = eq . lookupDDRM ( "Q" ) ; CommonOps_DDRM . divide ( _Q , NormOps_DDRM . normF ( _Q ) ) ; ConvertDMatrixStruct . convert ( _Q , Q ) ; }
Compuets the absolute dual quadratic from the first camera parameters and plane at infinity