We present a new algorithm that can output the rank-decomposition of width at most k of a graph if such exists. For that we use an algorithm that, for an input matroid represented over a fixed finite field, outputs its branch-decomposition of width at most k if such exists. This algorithm works also for partitioned matroids. Both these algorithms are fixed-parameter tractable, that is, they run in time O(n3) for each fixed value of k where n is the number of vertices / elements of the input.