sugr_get_Euclidean_Point_2D

% Get Euclidean coordinates with CovM

 [e,Cee] = sugr_get_Euclidean_Point_2D(x)
 
 if finite point:
    e   = Euclidean coordinates
    Cee = CovM of e
 else zeros

 Wolfgang Förstner
 wfoerstn@uni-bonn.de
 wf 1/2011

 See also sugr_Point_2D, sugr_get_Euclidean_Line_2D,
 sugr_get_Euclidean_Point_3D, sugr_get_isfinite_Point_2D

0001 %% Get Euclidean coordinates with CovM
0002 %
0003 % [e,Cee] = sugr_get_Euclidean_Point_2D(x)
0004 %
0005 % if finite point:
0006 %    e   = Euclidean coordinates
0007 %    Cee = CovM of e
0008 % else zeros
0009 %
0010 % Wolfgang Förstner
0011 % wfoerstn@uni-bonn.de
0012 % wf 1/2011
0013 %
0014 % See also sugr_Point_2D, sugr_get_Euclidean_Line_2D,
0015 % sugr_get_Euclidean_Point_3D, sugr_get_isfinite_Point_2D
0016 
0017 function [e,Cee] = sugr_get_Euclidean_Point_2D(x)
0018 
0019 switch sugr_get_isfinite_Point_2D(x)
0020     case 0
0021         e   = zeros(2,1);
0022         Cee = zeros(2,2);
0023     case 1
0024         e   = x.h(1:2)/x.h(3);
0025         J   =  1/x.h(3) * [eye(2) -x.h(1:2)/x.h(3)] * null(x.h');
0026         Cee = J * squeeze(x.Crr)  * J';
0027 end