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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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