C API

rodrigues.h File Reference


Detailed Description

Author:
Andrea Vedaldi

Rodrigues formulas

  • Use vl_rodrigues() to compute the Rodrigues formula and its derivative.
  • Use vl_irodrigues() to compute the inverse Rodrigues formula and its derivative.

Definition in file rodrigues.h.

#include "generic.h"

Go to the source code of this file.


Functions

VL_EXPORT void vl_rodrigues (double *R_pt, double *dR_pt, const double *om_pt)
 Rodrigues' formula.
VL_EXPORT void vl_irodrigues (double *om_pt, double *dom_pt, const double *R_pt)
 Inverse Rodrigues formula.

Function Documentation

VL_EXPORT void vl_irodrigues ( double *  om_pt,
double *  dom_pt,
const double *  R_pt 
)

Parameters:
om_pt 3 vector - array of 3 dobule (out).
dom_pt 3x9 matrix - array of 3x9 dobule (out).
R_pt 3x3 matrix - array of 9 double (in).
This function computes the Rodrigues formula of the argument om_pt. The result is stored int the matrix R_pt. If dR_pt is non null, then the derivative of the Rodrigues formula is computed and stored into the matrix dR_pt.

Definition at line 179 of file rodrigues.c.

References VL_MAX, and VL_NAN_D.

VL_EXPORT void vl_rodrigues ( double *  R_pt,
double *  dR_pt,
const double *  om_pt 
)

file: rodirgues.c author: Andrea Vedaldi description: Rodrigues formulas

Parameters:
R_pt 3x3 matrix - array of 9 double (in) .
dR_pt 9x3 matrix - array of 27 double (in).
om_pt 3 vector - array of 3 dobule (out).

Definition at line 27 of file rodrigues.c.