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cayley.hpp
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/******************************************************************************
* Author: Laurent Kneip *
* Contact: kneip.laurent@gmail.com *
* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
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#ifndef OPENGV_CAYLEY_HPP_
#define OPENGV_CAYLEY_HPP_
#include <stdlib.h>
#include <opengv/types.hpp>
namespace opengv
{
namespace math
{
rotation_t cayley2rot( const cayley_t & cayley);
rotation_t cayley2rot_reduced( const cayley_t & cayley);
cayley_t rot2cayley( const rotation_t & R );
}
}
#endif /* OPENGV_CAYLEY_HPP_ */
opengv::math
The namespace of the math tools.
Definition arun.hpp:53
opengv::math::cayley2rot
rotation_t cayley2rot(const cayley_t &cayley)
Compute a rotation matrix from Cayley-parameters, following [14].
opengv::math::cayley2rot_reduced
rotation_t cayley2rot_reduced(const cayley_t &cayley)
Compute a fake rotation matrix from Cayley-parameters, following [14]. The rotation matrix is missing...
opengv::math::rot2cayley
cayley_t rot2cayley(const rotation_t &R)
Compute the Cayley-parameters of a rotation matrix, following [14].
opengv
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
opengv::cayley_t
Eigen::Vector3d cayley_t
Definition types.hpp:90
opengv::rotation_t
Eigen::Matrix3d rotation_t
Definition types.hpp:71
types.hpp
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...