function [R T] = computeRT(cam_file) f = fopen(cam_file, 'r') ; if f ~= -1 script=char(fread(f, inf, 'uchar')) ; eval(script) ; fclose(f); end cam_dir = cam_dir; cam_pos = cam_pos; cam_up = cam_up; z = cam_dir / norm(cam_dir); x = cross(cam_up,z); x = x / norm(x); y = cross(z,x); R = [x y z]; T = cam_pos; end