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sugr_ghm_update_vector

PURPOSE

% GHM update spherically normalized vector

SYNOPSIS

function xu = sugr_ghm_update_vector(x,p)

DESCRIPTION

% GHM update spherically normalized vector

 xu = sugr_ghm_update_vector(x,p)

 * x = N-vector, approximate values
 * p = (N-1)-vector, reduced corrections

 xu = updated vector

 Wolfgang Förstner 03/2011
 wfoerstn@uni-bonn.de

CROSS-REFERENCE INFORMATION

This function calls:

This function is called by:

demo_estimate_two_symmetric_planes_from_points % test_two_symmetric_planes_from_points
sugr_estimation_ml_E_Matrix_from_point_pairs % ML estimation of E-Matrix from point pairs
sugr_estimation_ml_Homography_2D_from_point_pairs % ML estimate of 2D homography from point pairs
sugr_estimation_ml_Plane_from_points % ML estiamte of plane from points
sugr_estimation_ml_symmetric_Planes_from_points % ML estiamte of plane from points
sugr_estimation_ml_Point_2D_from_Lines % ML estimate of intersection Point_2D from N Lines_2D
sugr_perturb_2D_point_pairs_spherical % Perturb sampled 2D points pairs sphericaly
sugr_estimation_ml_Projection_3D_2D_from_point_pairs % ML estimate of Projection from corresponding 3D-2D point pairs
sugr_estimation_ml_Projection_3D_2D_from_point_pairs_hnh % ML estimate of Projection from corresponding 3D-2D point pairs

SOURCE CODE

0001 %% GHM update spherically normalized vector
0002 %
0003 % xu = sugr_ghm_update_vector(x,p)
0004 %
0005 % * x = N-vector, approximate values
0006 % * p = (N-1)-vector, reduced corrections
0007 %
0008 % xu = updated vector
0009 %
0010 % Wolfgang Förstner 03/2011
0011 % wfoerstn@uni-bonn.de
0012 
0013 function xu = sugr_ghm_update_vector(x,p)
0014 
0015 % Update in tangent space
0016 xu = x + null(x') * p;
0017 
0018 % normalize
0019 xu = xu / norm(xu);