sugr_get_CovM_homogeneous_Vector

PURPOSE

SYNOPSIS

DESCRIPTION

% get CovM of homogeneous vector x.h

 Chh = sugr_get_CovM_homogeneous_Vector(x); 
 
 * x =  struct, homogeneous object, minimal representation {x.h,x.Crr}

 * Chh = full cov. matrix of homogeneous element x.h

CROSS-REFERENCE INFORMATION

• sugr_distance_angular_2D % Angular distance of two 2D entities
• sugr_transform_with_Homography_2D % transform uncertain elements using a projective mapping
• sugr_Line_2D_hom2Hes % Uncertain Hessian line from homogeneous line
• sugr_construct_join_Line_2D % Construct 2D line joining two points x and y
• sugr_construct_midline_Line_2D % Construct midline of two 2D points x and y
• sugr_construct_parallel_lO_Line_2D % Construct line parallel to line l through origin
• sugr_construct_parallel_lx_Line_2D % Construct 2D line parallel to line l through point x
• sugr_perturb_Lines_2D % Perturbes given image lines through one point
• sugr_plot_Line_2D % Plot uncertain 2D line with standard hyperbola
• sugr_show_Line_2D % Show/print all representations of 2D line on console
• sugr_construct_join_Line_3D % calculate line from two statistically independent points
• sugr_construct_footpoint_Ol_Point_2D % Foot point from 2D origin O to uncertain line l
• sugr_construct_footpoint_xl_Point_2D % Foot point from Point_2D x onto line l
• sugr_construct_intersection_Point_2D % Intersection 2D point two lines l and m
• sugr_construct_midpoint_Point_2D % Mid point of two 2D points
• sugr_plot_Point_2D % Plot 2D point with standard ellipse
• sugr_show_Point_2D % Show information of 2D point on console
• sugr_show_Point_3D % Show information of 3D point on console

SOURCE CODE

0001 %% get CovM of homogeneous vector x.h
0002 %
0003 % Chh = sugr_get_CovM_homogeneous_Vector(x);
0004 %
0005 % * x =  struct, homogeneous object, minimal representation {x.h,x.Crr}
0006 %
0007 % * Chh = full cov. matrix of homogeneous element x.h
0008 
0009 % see PCV (10.28)
0010 %
0011 % Wolfgang Förstner 2016-09-02
0012 % wfoerstn@uni-bonn.de
0013 
0014 function Chh = sugr_get_CovM_homogeneous_Vector(x)
0015 
0016 J = null(x.h');        % d x (d-1)
0017 
0018 Chh = J * x.Crr * J';
0019