Home > General-Functions > SUGR > Line_2D > sugr_Line_2D_cen2hom.m

sugr_Line_2D_cen2hom

PURPOSE ^

% Uncertain homogenous line parameters from uncertain centered line parameters

SYNOPSIS ^

function [h,Chh] = sugr_Line_2D_cen2hom(x0,p,sp,sq)

DESCRIPTION ^

% Uncertain homogenous line parameters from uncertain centered line parameters

 [h,Chh] = sugr_Line_2D_cen2hom(x0,p,sp,sq)
 
 * x = centroid, [x-coord. y-coord.]'
 * p  = direction of normal
 * sp = standard deviation of normal direction
 * sq = standard deviation across line

 * h = homogeneous vector
 * Chh = CovM

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

 See also sugr_Line_2D, sugr_Line_2D_hom2Hes, sugr_Line_2D_hom2cen,
 sugr_Line_2D_Hes2hom, sugr_Line_2D_Hes2cen,
 sugr_get_Euclidean_Line_2D, sugr_get_centroid_Line_2D

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %% Uncertain homogenous line parameters from uncertain centered line parameters
0002 %
0003 % [h,Chh] = sugr_Line_2D_cen2hom(x0,p,sp,sq)
0004 %
0005 % * x = centroid, [x-coord. y-coord.]'
0006 % * p  = direction of normal
0007 % * sp = standard deviation of normal direction
0008 % * sq = standard deviation across line
0009 %
0010 % * h = homogeneous vector
0011 % * Chh = CovM
0012 %
0013 % Wolfgang Förstner  1/2011
0014 % wfoerstn@uni-bonn.de
0015 %
0016 % See also sugr_Line_2D, sugr_Line_2D_hom2Hes, sugr_Line_2D_hom2cen,
0017 % sugr_Line_2D_Hes2hom, sugr_Line_2D_Hes2cen,
0018 % sugr_get_Euclidean_Line_2D, sugr_get_centroid_Line_2D
0019 
0020 function [h,Chh] = sugr_Line_2D_cen2hom(x0,p,sp,sq)
0021 
0022 ly  = [1,0,0]';                          % negative y-axis
0023 Cyy = diag([0,sp^2,sq^2]);               % standardized Cov.-Matrix
0024 
0025 TR  = inv([cos(p),-sin(p),x0(1);...
0026            sin(p), cos(p),x0(2);...
0027            0     , 0     , 1   ]');      % Transformation-matrix
0028 h   = TR * ly;                           %#ok<*MINV> % hom. line
0029 Chh = TR * Cyy * TR';                    % error-prop.
0030

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