source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/third_party/vlutil/toolbox/irodr.m @ 86

Last change on this file since 86 was 37, checked in by (none), 15 years ago

Added original make3d
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1% IRODR  Inverse Rodrigues' formula
2%   OM = IRODR(R) where R is a rotation matrix computes the the
3%   inverse Rodrigues' formula of om, returning the rotation matrix R
4%   = dehat(Logm(OM)).
5%
6%   [OM,DOM] = IRODR(R) computes also the derivative of the Rodrigues'
7%   formula. In matrix notation this is the expression
8%
9%          d( dehat logm(hat(R)) )
10%     dom = ----------------------.
11%                  d(vec R)^T
12%
13%   [OM,DOM] = IRODR(R) when R is a 9xK matrix repeats the operation
14%   for each column (or equivalently matrix with 9*K elements). In
15%   this case OM and DOM are arrays with K slices, one per rotation.
16%
17%   COMPATIBILITY. Some code uses the RODRIGUES() function. This
18%   function is very similar, except for the format of the derivative,
19%   which differs by a permutation of the elements.
20%
21%   See also RODR().
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