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

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cui
cui on 9 Apr 2021
Edited: Matt J on 9 Apr 2021
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?
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Accepted Answer

Matt J
Matt J on 9 Apr 2021
Edited: Matt J on 9 Apr 2021
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

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