In computer vision,It seems that there is no function for camera projection matrix decomposition in Matlab? but I found: [K,R,t] = cameraMatrixDecom(P [,noscale]) finds K, R, t such that P = K*R*[eye(3) -t]. It is det®==1. K is scaled so that K(3,3)==1 and K(1,1)>0. Optional parameter noscale prevents this. In the future matlab release ,could have the function like this ?