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????時間???名稱
-----------?---------??----------?-----??----

?????文件???????1825??2009-04-16?19:21??stero\art.m

?????文件???????6148??2009-04-16?19:21??stero\data\.DS_Store

?????文件????????285??2011-04-24?21:25??stero\data\coordinate_points.mat

?????文件?????????74??2011-04-24?21:12??stero\data\left_image_points.txt

?????文件????????621??2011-04-24?19:36??stero\data\project.m

?????文件?????????70??2011-04-24?21:13??stero\data\right_image_points.txt

?????文件????????422??2011-04-24?19:36??stero\data\Sport_cam.mat

?????文件?????????28??2011-04-24?20:51??stero\data\Sport_points

?????文件?????????28??2011-04-24?20:51??stero\data\Sport_points.asv

?????文件???????3106??2011-04-23?19:41??stero\FM.mat

?????文件????????786??2011-05-04?17:11??stero\fund.m

?????文件???????6148??2009-04-16?19:21??stero\images\.DS_Store

?????文件??????89841??2011-04-24?18:58??stero\images\Sport0.JPG

?????文件??????89345??2011-04-24?18:58??stero\images\Sport1.JPG

?????文件??????70847??2011-04-25?15:30??stero\imagesE\Sport_R_0.jpg

?????文件?????468180??2011-05-05?09:35??stero\imagesE\Sport_R_0.png

?????文件?????545182??2011-05-05?09:35??stero\imagesE\Sport_R_1.png

?????文件???????2321??2009-04-16?19:21??stero\imwarp.m

?????文件????????630??2009-04-16?19:21??stero\ivec.m

?????文件????????793??2011-05-03?21:43??stero\mcbb.m

?????文件????????643??2011-05-03?21:37??stero\p2t.m

?????文件????????797??2011-04-23?21:50??stero\plotseg.m

?????文件???????1794??2009-04-16?19:21??stero\rectify.m

?????文件???????3194??2011-05-03?20:57??stero\rectifyImageE.asv

?????文件???????3364??2011-05-03?22:56??stero\rectifyImageE.m

?????文件????????611??2011-05-04?20:30??stero\ssd.asv

?????文件????????672??2011-05-04?21:36??stero\ssd.m

?????文件????????356??2009-04-16?19:21??stero\star.m

?????文件????????798??2011-05-04?21:31??stero\stereo_matching.asv

?????文件????????823??2011-05-05?09:30??stero\stereo_matching.m

............此處省略8個文件信息