% Covariance matrix of homogeneous homography, wrt h = vec(H) Chh = sugr_get_CovM_homogeneous_Homography_2D(H) Jrh = Jacobian r -> h Wolfgang Förstner wfoerstn@uni-bonn.de wf 2/2011
0001 %% Covariance matrix of homogeneous homography, 0002 % wrt h = vec(H) 0003 % 0004 % Chh = sugr_get_CovM_homogeneous_Homography_2D(H) 0005 % Jrh = Jacobian r -> h 0006 % 0007 % Wolfgang Förstner 0008 % wfoerstn@uni-bonn.de 0009 % 0010 % wf 2/2011 0011 0012 function [Chh,Jrh] = sugr_get_CovM_homogeneous_Homography_2D(H) 0013 0014 Ht = H.H'; 0015 Jrh = [Ht(1,1)*eye(3), ... 0016 Ht(1,2)*eye(3), ... 0017 Ht(1,3)*eye(3); ... 0018 Ht(2,1)*eye(3), ... 0019 Ht(2,2)*eye(3), ... 0020 Ht(2,3)*eye(3); ... 0021 Ht(3,1)*eye(3), ... 0022 Ht(3,2)*eye(3), ... 0023 Ht(3,3)*eye(3)] ... 0024 * [eye(8); [-1,0,0,0,-1,0,0,0]]; % Jacobian h -> hr , 9 x 8 0025 Chh = Jrh * H.Crr * Jrh'; % CovM of homogeneous vector vec H 0026