Home > 12-Single-View-Geometry > Demo_Projection > Functions > g_projection_n.m

g_projection_n

PURPOSE

% Check the Jacobian of the projection constraint

SYNOPSIS

function g = g_projection_n(px)

DESCRIPTION

% Check the Jacobian of the projection constraint

 g  = N(x') - N(P X)

 px = [vecP; X; x']

 Wolfgang Förstner
 wfoerstn@uni-bonn.de

 last changes: Susanne Wenzel 04/18
 wenzel@igg.uni-bonn.de

CROSS-REFERENCE INFORMATION

This function calls:

This function is called by:

SOURCE CODE

0001 %% Check the Jacobian of the projection constraint
0002 %
0003 % g  = N(x') - N(P X)
0004 %
0005 % px = [vecP; X; x']
0006 %
0007 % Wolfgang Förstner
0008 % wfoerstn@uni-bonn.de
0009 %
0010 % last changes: Susanne Wenzel 04/18
0011 % wenzel@igg.uni-bonn.de
0012 %
0013 function g = g_projection_n(px)
0014 
0015 yn = px(17:19); 
0016 yn = yn/norm(yn);
0017 
0018 ypn = reshape( px(1:12),3,4 ) * px(13:16);
0019 ypn = ypn/norm(ypn);
0020 
0021 g = yn - ypn;
0022