LabelMe3dToolbox/getCameraMatrix.m at master · brussell123/LabelMe3dToolbox · GitHub

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function P = getCameraMatrix(annotation,type)
% function P = getCameraMatrix(annotation)
%
% Gets camera matrix for 3D scene.
%
% Inputs:
% annotation - LabelMe3D annotation structure
%
% Outputs:
% P - 3x4 camera matrix.

if nargin < 2
  type = 'LH';
end

P = [];

if isfield(annotation,'camera') && isfield(annotation.camera,'pmatrix') && isfield(annotation.camera.pmatrix,'p11')
  pmatrix = annotation.camera.pmatrix;
  if isstr(pmatrix.p11)
    P = [str2num(pmatrix.p11) str2num(pmatrix.p12) str2num(pmatrix.p13) str2num(pmatrix.p14); ...
         str2num(pmatrix.p21) str2num(pmatrix.p22) str2num(pmatrix.p23) str2num(pmatrix.p24); ...
         str2num(pmatrix.p31) str2num(pmatrix.p32) str2num(pmatrix.p33) str2num(pmatrix.p34)];
  else
    P = [pmatrix.p11 pmatrix.p12 pmatrix.p13 pmatrix.p14; ...
         pmatrix.p21 pmatrix.p22 pmatrix.p23 pmatrix.p24; ...
         pmatrix.p31 pmatrix.p32 pmatrix.p33 pmatrix.p34];
  end
end

if ~isempty(P) && strcmp(type,'RH')
  imageSize = [str2num(annotation.imagesize.nrows) str2num(annotation.imagesize.ncols)];
  T = [-1 0 (imageSize(2)+1)/2; 0 -1 (imageSize(1)+1)/2; 0 0 1];
  P = T*P;
end