gramianz.m

Recovering 3-D structure from motion in noisy 2-D images is a problem addressed by many vision syste

function zt = gramianZ(a,b)

% "Linear and Incremental Acquisition of Invariant Shape Models from
%  Image Sequences", Daphna Weinshall and Carlo Tomasi
% Function specified in the computation of the Gramian used in
% nonlinear least squares solution C matrix.
% usage: zt = gramianZ(a,b)
% input:
%       a: 1st 3-vector
%       b: 2nd 3-vector
% output:
%        zt: output of the transposed Z operator.
% history:
%         04/29/04 SLB initial revision
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

zt = [a(1)*b(1) (a(1)*b(2) + a(2)*b(1)) (a(1)*b(3) + a(3)*b(1))...
      a(2)*b(2) (a(2)*b(3) + a(3)*b(2)) a(3)*b(3)];