Home > General-Functions > SUGR > Line_3D > sugr_construct_join_Line_3D.m

sugr_construct_join_Line_3D

PURPOSE ^

% calculate line from two statistically independent points

SYNOPSIS ^

function L = sugr_construct_join_Line_3D(X,Y)

DESCRIPTION ^

% calculate line from two statistically independent points

 L = sugr_construct_join_line_3D(X,Y)

 X,Y    given 3D points as sugr objects

 L      joining 3D line as sugr object
 
 Wolfgang Förstner 2013-09-17
 wfoerstn@uni-bonn.de 

 wf 2016-09-02 added variance propagation
 sw 9/2016

 See also sugr_Line_3D, sugr_minimal_3D_Line, sugr_constrain_3D_Line

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %% calculate line from two statistically independent points
0002 %
0003 % L = sugr_construct_join_line_3D(X,Y)
0004 %
0005 % X,Y    given 3D points as sugr objects
0006 %
0007 % L      joining 3D line as sugr object
0008 %
0009 % Wolfgang Förstner 2013-09-17
0010 % wfoerstn@uni-bonn.de
0011 %
0012 % wf 2016-09-02 added variance propagation
0013 % sw 9/2016
0014 %
0015 % See also sugr_Line_3D, sugr_minimal_3D_Line, sugr_constrain_3D_Line
0016 
0017 function L = sugr_construct_join_Line_3D(X,Y)
0018 
0019 %% determine homogeneous vectors
0020 
0021 % Jacobians dL/dX, dL/dY
0022 J_LX =   sugr_calc_Pi(X.h);
0023 J_LY = - sugr_calc_Pi(Y.h);
0024 
0025 h = J_LX*Y.h;
0026 
0027 %% determine covariance matrix
0028 % CovM of homogeneous 4-vectors
0029 CovM_X = sugr_get_CovM_homogeneous_Vector(X);
0030 CovM_Y = sugr_get_CovM_homogeneous_Vector(Y);
0031 
0032 % covariance matrix of Plücker vector
0033 CovM_Lh = J_LX * CovM_X *  J_LX' + J_LY * CovM_Y *  J_LY';
0034 
0035 % generate sugr object
0036 L = sugr_Line_3D(h,CovM_Lh);

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