% Pidual-matrix from 3D-point 4-vector see PCV (7.63) Usage P = calc_Pi (X) X - 4x1 homogeneous 3D point P - 6x4 Pi Matrix Wolfgang Förstner wfoerstn@uni-bonn.de See also calc_Pi, calc_Gamma, calc_Gammadual, calc_Gamma_reduced, calc_Gammadual_reduced, calc_Dual
0001 %% Pidual-matrix from 3D-point 4-vector 0002 % see PCV (7.63) 0003 % 0004 % Usage 0005 % P = calc_Pi (X) 0006 % 0007 % X - 4x1 homogeneous 3D point 0008 % P - 6x4 Pi Matrix 0009 % 0010 % Wolfgang Förstner 0011 % wfoerstn@uni-bonn.de 0012 % 0013 % See also calc_Pi, calc_Gamma, calc_Gammadual, calc_Gamma_reduced, 0014 % calc_Gammadual_reduced, calc_Dual 0015 0016 function P = calc_Pidual (X) 0017 0018 P= ... 0019 [... 0020 0 -X(3) X(2) 0; ... 0021 X(3) 0 -X(1) 0; ... 0022 -X(2) X(1) 0 0; ... 0023 X(4) 0 0 -X(1); ... 0024 0 X(4) 0 -X(2); ... 0025 0 0 X(4) -X(3) ... 0026 ]; 0027