function?[ARt]=art（Pfsign）
%ART??Factorize?camera?matrix?into?intrinsic?and?extrinsic?matrices
%
%???[ARt]?=?art（Pfsign）??factorize?the?projection?matrix?P
%???as?P=A*[R;t]?and?enforce?the?sign?of?the?focal?lenght?to?be?fsign.
%???By?default?fsign=1.

%?Author:?A.?Fusiello?1999
%
%?fsign?tells?the?position?of?the?image?plane?wrt?the?focal?plane.?If?it?is
%?negative?the?image?plane?is?behind?the?focal?plane.


%?by?default?assume?POSITIVE?focal?lenght
if?nargin?==?1
????fsign?=?1;
end

s?=?P（1:34）;
Q?=?inv（P（1:3?1:3））;
[UB]?=?qr（Q）;

%?fix?the?sign?of?B（33）.?This?can?possibly?change?the?sign?of?the?resulting?matrix
%?which?is?defined?up?to?a?scale?factor?however.
sig?=?sign（B（33））;
B=B*sig;
s=s*sig;

%?if?the?sign?of?the?focal?lenght?is?not?the?required?one
%?change?it?and?change?the?rotation?accordingly.

if?fsign*B（11）?????E=?[-1?????0?????0
????????0????1?????0
????????0?????0?????1];
????B?=?E*B;
????U?=?U*E;
end

if?fsign*B（22）?????E=?[1?????0?????0
????????0????-1?????0
????????0?????0?????1];
????B?=?E*B;
????U?=?U*E;
end

%?if?U?is?not?a?rotation?fix?the?sign.?This?can?possibly?change?the?sign
%?of?the?resulting?matrix?which?is?defined?up?to?a?scale?factor?however.
if?det（U）????U?=?-U;
????s=?-?s;
end


%?sanity?check
if?（norm（Q-U*B）>1e-10）?&?（norm（Q+U*B）>1e-10）
????error（‘Something?wrong?with?the?QR?factorization.‘）;?end

R?=?U‘;
t?=?B*s;
A?=?inv（B）;
A?=?A?./A（33）;


%?sanity?check
if?det（R）?if?A（33）?%?this?guarantee?that?the?result?*is*?a?factorization?of?the?given?P?up?to?a?scale?factor
W?=?A*[Rt];
if?（rank（[P（:）?W（:）]）?~=?1?）
????error（‘Something?wrong?with?the?ART?factorization.‘）;?end

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----
?????目錄???????????0??2016-05-16?09:17??RectifKitE-Stereo\
?????文件????????6148??2016-05-15?21:14??RectifKitE-Stereo\.DS_Store
?????目錄???????????0??2016-05-16?23:43??__MACOSX\
?????目錄???????????0??2016-05-16?23:43??__MACOSX\RectifKitE-Stereo\
?????文件?????????120??2016-05-15?21:14??__MACOSX\RectifKitE-Stereo\._.DS_Store
?????文件????????1825??2009-04-17?01:21??RectifKitE-Stereo\art.m
?????文件?????????222??2009-04-17?01:21??__MACOSX\RectifKitE-Stereo\._art.m
?????目錄???????????0??2016-05-15?21:13??RectifKitE-Stereo\data\
?????文件????????6148??2009-04-17?01:21??RectifKitE-Stereo\data\.DS_Store
?????目錄???????????0??2016-05-16?23:43??__MACOSX\RectifKitE-Stereo\data\
?????文件?????????222??2009-04-17?01:21??__MACOSX\RectifKitE-Stereo\data\._.DS_Store
?????文件?????????432??2009-04-17?01:21??RectifKitE-Stereo\data\Sport_cam.mat
?????文件?????????222??2009-04-17?01:21??__MACOSX\RectifKitE-Stereo\data\._Sport_cam.mat
?????文件??????????28??2009-04-17?01:21??RectifKitE-Stereo\data\Sport_points
?????文件?????????222??2009-04-17?01:21??__MACOSX\RectifKitE-Stereo\data\._Sport_points
?????文件?????????222??2016-05-15?21:13??__MACOSX\RectifKitE-Stereo\._data
?????文件?????????489??2009-04-17?01:21??RectifKitE-Stereo\Disclaimer.txt
?????文件?????????222??2009-04-17?01:21??__MACOSX\RectifKitE-Stereo\._Disclaimer.txt
?????文件?????????761??2009-04-17?01:21??RectifKitE-Stereo\fund.m
?????文件?????????222??2009-04-17?01:21??__MACOSX\RectifKitE-Stereo\._fund.m
?????目錄???????????0??2016-05-15?21:13??RectifKitE-Stereo\images\
?????文件????????6148??2009-04-17?01:21??RectifKitE-Stereo\images\.DS_Store
?????目錄???????????0??2016-05-16?23:43??__MACOSX\RectifKitE-Stereo\images\
?????文件?????????222??2009-04-17?01:21??__MACOSX\RectifKitE-Stereo\images\._.DS_Store
?????文件??????326905??2009-04-17?01:21??RectifKitE-Stereo\images\Sport0.png
?????文件??????117515??2009-04-17?01:21??__MACOSX\RectifKitE-Stereo\images\._Sport0.png
?????文件??????314828??2009-04-17?01:21??RectifKitE-Stereo\images\Sport1.png
?????文件??????117063??2009-04-17?01:21??__MACOSX\RectifKitE-Stereo\images\._Sport1.png
?????文件?????????222??2016-05-15?21:13??__MACOSX\RectifKitE-Stereo\._images
?????目錄???????????0??2009-04-17?01:21??RectifKitE-Stereo\imagesE\
?????文件?????????222??2009-04-17?01:21??__MACOSX\RectifKitE-Stereo\._imagesE
............此處省略22個(gè)文件信息