sugr_Projection_3D_2D

% Create pose

 Usage:

    Point_Projection_3D_2D = sugr_Projection_3D_2D(P)
        3x4 matrix, CovM = 0

    Point_Projection_3D_2D = sugr_Projection_3D_2D(P,CovM)
        3x4 matrix, 12x12 covariance matrix of vec(P)

    Point_Projection_3D_2D = sugr_Projection_3D_2D(K,R,Z)
        3x3-matrices, 3-vector, CovM = 0

 Point_Projection_3D_2D = structure
 *             .P   = 3 x 4-Matrix, Frobenius norm = 1, det P(1:3,1:3) > 0
 *             .Crr = vec of covariance matrix of 11 reduced parameters
 *             .type = 20

 Wolfgang Förstner 2/2013
 wfoerstn@uni-bonn.de

 See also sugr_minimal_Point_Projection_3D_2D, sugr_minimal_vector

0001 %% Create pose
0002 %
0003 % Usage:
0004 %
0005 %    Point_Projection_3D_2D = sugr_Projection_3D_2D(P)
0006 %        3x4 matrix, CovM = 0
0007 %
0008 %    Point_Projection_3D_2D = sugr_Projection_3D_2D(P,CovM)
0009 %        3x4 matrix, 12x12 covariance matrix of vec(P)
0010 %
0011 %    Point_Projection_3D_2D = sugr_Projection_3D_2D(K,R,Z)
0012 %        3x3-matrices, 3-vector, CovM = 0
0013 %
0014 % Point_Projection_3D_2D = structure
0015 % *             .P   = 3 x 4-Matrix, Frobenius norm = 1, det P(1:3,1:3) > 0
0016 % *             .Crr = vec of covariance matrix of 11 reduced parameters
0017 % *             .type = 20
0018 %
0019 % Wolfgang Förstner 2/2013
0020 % wfoerstn@uni-bonn.de
0021 %
0022 % See also sugr_minimal_Point_Projection_3D_2D, sugr_minimal_vector
0023 
0024 function Point_Projection_3D_2D = sugr_Projection_3D_2D(a1,a2,a3)
0025 
0026 % default
0027 Chh  = zeros(12);
0028 %
0029 switch nargin
0030     
0031     case 1
0032         % 3x4-matrix
0033         P = a1*sign(det(a1(1:3,1:3)));
0034         Point_Projection_3D_2D = ...
0035             sugr_minimal_Point_Projection_3D_2D(P,Chh);
0036         
0037     case 2
0038         % P, Cpp
0039         P = a1*sign(det(a1(1:3,1:3)));
0040         Point_Projection_3D_2D = ...
0041             sugr_minimal_Point_Projection_3D_2D(P,a2);
0042         
0043     case 3 %
0044         % K, R, Z
0045         P = a1*a2*[eye(3),-a3];
0046         P = P*sign(det(P(1:3,1:3)));
0047         Point_Projection_3D_2D = ...
0048             sugr_minimal_Point_Projection_3D_2D(P,Chh);       
0049         
0050 end
0051 
0052 Point_Projection_3D_2D.type = 134;
0053