source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/third_party/zisserman/vgg_numerics/vgg_quat_matrix.m @ 86

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

Added original make3d
  • Property svn:executable set to *
File size: 376 bytes
Line 
1function PM = vgg_quat_matrix(p)
2% VGG_QUAT_MATRIX  Quaternion multiplication matrix
3%               PM = vgg_quat_matrix(q) returns PM such that
4%               PM * q = vgg_quat_mul(p,q)
5
6% awf@robots.ox.ac.uk, 30/01/05
7
8PM = [
9  [  p(1), -p(2), -p(3), -p(4)]
10  [  p(2),  p(1), -p(4),  p(3)]
11  [  p(3),  p(4),  p(1), -p(2)]
12  [  p(4), -p(3),  p(2),  p(1)]
13  ];
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