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calc_Pi

PURPOSE ^

% Pi-matrix from 3D-point 4-vector

SYNOPSIS ^

function P = calc_Pi(X)

DESCRIPTION ^

% Pi-matrix from 3D-point 4-vector
 see PCV (7.37)

 Usage
   P = calc_Pi (X)

   X - 4x1 homogeneous 3D point
   P - 6x4 Pi Matrix

 Wolfgang Förstner
 wfoerstn@uni-bonn.de 

 See also calc_Pidual, calc_Gamma, calc_Gammadual, calc_Gamma_reduced,
 calc_Gammadual_reduced, calc_Dual

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %% Pi-matrix from 3D-point 4-vector
0002 % see PCV (7.37)
0003 %
0004 % Usage
0005 %   P = calc_Pi (X)
0006 %
0007 %   X - 4x1 homogeneous 3D point
0008 %   P - 6x4 Pi Matrix
0009 %
0010 % Wolfgang Förstner
0011 % wfoerstn@uni-bonn.de
0012 %
0013 % See also calc_Pidual, calc_Gamma, calc_Gammadual, calc_Gamma_reduced,
0014 % calc_Gammadual_reduced, calc_Dual
0015 
0016 function P = calc_Pi(X)
0017 P= ...
0018 [...
0019       X(4)  0     0    -X(1); ...
0020       0     X(4)  0    -X(2); ...
0021       0     0     X(4) -X(3); ...
0022       0    -X(3)  X(2)  0; ...
0023       X(3)  0    -X(1)  0; ...
0024      -X(2)  X(1)  0     0  ...
0025 ];

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