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sugr_get_CovM_homogeneous_Homography_2D

PURPOSE ^

% Covariance matrix of homogeneous homography,

SYNOPSIS ^

function [Chh,Jrh] = sugr_get_CovM_homogeneous_Homography_2D(H)

DESCRIPTION ^

% Covariance matrix of homogeneous homography, 
 wrt h = vec(H)

 Chh = sugr_get_CovM_homogeneous_Homography_2D(H)
 Jrh = Jacobian r -> h

 Wolfgang Förstner
 wfoerstn@uni-bonn.de

 wf 2/2011

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %% Covariance matrix of homogeneous homography,
0002 % wrt h = vec(H)
0003 %
0004 % Chh = sugr_get_CovM_homogeneous_Homography_2D(H)
0005 % Jrh = Jacobian r -> h
0006 %
0007 % Wolfgang Förstner
0008 % wfoerstn@uni-bonn.de
0009 %
0010 % wf 2/2011
0011 
0012 function [Chh,Jrh] = sugr_get_CovM_homogeneous_Homography_2D(H)
0013 
0014 Ht  = H.H';      
0015 Jrh = [Ht(1,1)*eye(3), ...
0016        Ht(1,2)*eye(3), ...
0017        Ht(1,3)*eye(3); ...        
0018        Ht(2,1)*eye(3), ...
0019        Ht(2,2)*eye(3), ...
0020        Ht(2,3)*eye(3); ...
0021        Ht(3,1)*eye(3), ...
0022        Ht(3,2)*eye(3), ...
0023        Ht(3,3)*eye(3)] ...
0024        * [eye(8); [-1,0,0,0,-1,0,0,0]]; % Jacobian h -> hr , 9 x 8
0025 Chh = Jrh * H.Crr * Jrh';               % CovM of homogeneous vector vec H
0026

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