% Euclideanly normalized 2D homography for quasi affine homographies w.r.t. disk around origin. [He,Cee] = sugr_get_isaffine_Homography(H) Wolfgang Förstner wfoerstn@uni-bonn.de wf 2/2011
0001 %% Euclideanly normalized 2D homography 0002 % for quasi affine homographies w.r.t. disk around origin. 0003 % 0004 % [He,Cee] = sugr_get_isaffine_Homography(H) 0005 % 0006 % 0007 % Wolfgang Förstner 0008 % wfoerstn@uni-bonn.de 0009 % 0010 % wf 2/2011 0011 0012 function [He,Cee] = sugr_get_Euclidean_Homography_2D(H) 0013 0014 if sugr_get_isquasiaffine_Homography_2D(H) 0015 He = H.H/H.H(9); % Euclidean normalization 0016 Jhe = 1/H.H(9) * [eye(8) -H.H(1:8)'/H.H(9)]; % Jacobian h->e 0017 Chh = sugr_get_CovM_homogeneous_Homography_2D(H); 0018 % CovM of vec H 0019 Cee = Jhe * Chh * Jhe'; % CovM of vec He 0020 else 0021 He = zeros(3); 0022 Cee = zeros(9); 0023 end