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calc_Rot_r

PURPOSE

% Cayley rotation matrix

SYNOPSIS

function R = calc_Rot_r(r)

DESCRIPTION

% Cayley rotation matrix
 R = (I-S_r)^-1*(I+S_r)
 see PCV (8.62)
 
 Usage:
   R = calc_Rot_r(r)
 
   r - double 3x1
   R - double 3x3, 3D rotation matrix (rotates by 2|r|)

 Wolfgang Förstner 10/2011
 wfoerstn@uni-bonn.de 

 See also calc_R_from_opq_kraus, calc_r_phi_from_R, calc_Rot_ab,
 calc_Rot_q, calc_Rot_rod, calc_Rot_rp, calc_Mq, calc_Mq_comm, calc_opq_from_R_Kraus

CROSS-REFERENCE INFORMATION

This function calls:

calc_S % skew matrix of 3-vector

This function is called by:

demo_single_image_geometry % DEMO single image geometry
demo_direct_plane_fit % demo plane fitting direct method
demo_bR_from_UVuv % demo: bR from (U,V,xs,xss)
demo_estimate_E_Matrix_from_point_pairs % test_estimate_E_Matrix_from_point_pairs
demo_triangulation_spherical % demo triangulation
example_p_579_relative_orientation_mirror % test mirror image
demo_sugr_E_matrix % test sugr_E_matrix
e_from_bR % get e (= vec E) from [db_r,dr]

SOURCE CODE

0001 %% Cayley rotation matrix
0002 % R = (I-S_r)^-1*(I+S_r)
0003 % see PCV (8.62)
0004 %
0005 % Usage:
0006 %   R = calc_Rot_r(r)
0007 %
0008 %   r - double 3x1
0009 %   R - double 3x3, 3D rotation matrix (rotates by 2|r|)
0010 %
0011 % Wolfgang Förstner 10/2011
0012 % wfoerstn@uni-bonn.de
0013 %
0014 % See also calc_R_from_opq_kraus, calc_r_phi_from_R, calc_Rot_ab,
0015 % calc_Rot_q, calc_Rot_rod, calc_Rot_rp, calc_Mq, calc_Mq_comm, calc_opq_from_R_Kraus
0016 
0017 function R = calc_Rot_r(r)
0018 
0019 R = inv(eye(3)-calc_S(r))*(eye(3)+calc_S(r));                               %#ok<MINV>