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[37] | 1 | %RQ Pajdla: Returns a 3x3 upper triangular R and a unitary Q so that X = R*Q |
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| 2 | % |
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| 3 | % function [R,Q] = rq(X) |
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| 4 | % |
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| 5 | % X = input matrix, |
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| 6 | % Q = unitary matrix |
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| 7 | % R = upper triangular matrix |
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| 8 | % |
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| 9 | % See also QR. |
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| 10 | |
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| 11 | % Author: Tomas Pajdla, Tomas.Pajdla@esat.kuleuven.ac.be |
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| 12 | % pajdla@vision.felk.cvut.cz |
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| 13 | % 05/28/94 ESAT-MI2, KU Leuven |
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| 14 | % Documentation: |
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| 15 | % Language: Matlab 4.1, (c) MathWorks |
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| 16 | % |
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| 17 | function [R,Q] = rq(X) |
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| 18 | |
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| 19 | [Qt,Rt] = qr(X'); |
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| 20 | Rt = Rt'; |
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| 21 | Qt = Qt'; |
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| 22 | |
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| 23 | Qu(1,:) = cross(Rt(2,:),Rt(3,:)); |
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| 24 | Qu(1,:) = Qu(1,:)/norm(Qu(1,:)); |
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| 25 | |
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| 26 | Qu(2,:) = cross(Qu(1,:),Rt(3,:)); |
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| 27 | Qu(2,:) = Qu(2,:)/norm(Qu(2,:)); |
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| 28 | |
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| 29 | Qu(3,:) = cross(Qu(1,:),Qu(2,:)); |
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| 30 | |
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| 31 | R = Rt * Qu'; |
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| 32 | Q = Qu * Qt; |
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| 33 | |
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