How to decompose the "camera projection matrix" into camera internal and external parameters?

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cui,xingxing 2021-4-9

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https://ww2.mathworks.cn/matlabcentral/answers/797057-how-to-decompose-the-camera-projection-matrix-into-camera-internal-and-external-parameters

编辑： Matt J 2021-4-9

That is, what conditions are needed to proceed? Can the internal and external parameters of the camera be reversed by using n (n>6) non-coplanar corresponding world coordinate points of the image?

related issues: https://www.mathworks.com/matlabcentral/answers/472171-how-to-calculate-the-camera-intrinsics-k-rotation-matrix-r-and-translation-vector-t-through-the-ca

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Answer 1

Matt J 2021-4-9

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https://ww2.mathworks.cn/matlabcentral/answers/797057-how-to-decompose-the-camera-projection-matrix-into-camera-internal-and-external-parameters#answer_671127

编辑：Matt J 2021-4-9

Pdecomp.m

If you have the 3x4 camera projection matrix already, then it can be directly decomposed into intrinsics and extrinsics. The attached file will do it, e.g.,

P=rand(3,4);  %A projection matrix
[K,R,ImC]=Pdecomp(P)
K = 3×3
    0.4803   -0.1453    0.7873
         0    0.6865    0.9392
         0         0    1.4118
R = 3×3
    0.2997   -0.7858    0.5410
   -0.6539    0.2437    0.7162
    0.6947    0.5685    0.4408
ImC = 3×4
    1.0000         0   -0.0000    0.7352
   -0.0000    1.0000   -0.0000   -0.5784
    0.0000   -0.0000    1.0000    0.5442