source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/third_party/vlutil/toolbox/rodr.m @ 37

Last change on this file since 37 was 37, checked in by (none), 14 years ago

Added original make3d
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1% RODR  Rodrigues' formula
2%   R = RODR(OM) where OM a 3-dimensional column vector computes the
3%   Rodrigues' formula of OM, returning the rotation matrix R =
4%   expm(hat(OM)).
5%
6%   [R,DR] = RODR(OM) computes also the derivative of the Rodrigues
7%   formula. In matrix notation this is the expression
8%
9%           d(vec expm(hat(OM)) )
10%     dR = ----------------------.
11%                  d om^T
12%
13%   [R,DR]=RODR(OM) when OM is a 3xK matrix repeats the operation for
14%   each column (or equivalently matrix with 3*K elements). In this
15%   case R and DR 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 IRODR(), PDF:RODRIGUES.
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