Documentation>MATLAB API>GEOMETRY - vl_rodr

R = VL_RODR(OM) where OM a 3-dimensional column vector computes the Rodrigues' formula of OM, returning the rotation matrix R = expm(vl_hat(OM)).

[R,DR] = VL_RODR(OM) computes also the derivative of the Rodrigues formula. In matrix notation this is the expression

            d(vec expm(vl_hat(OM)) )
      dR = ----------------------.
                   d om^T

[R,DR]=VL_RODR(OM) when OM is a 3xK matrix repeats the operation for each column (or equivalently matrix with 3*K elements). In this case R and DR are arrays with K slices, one per rotation.

See also: VL_IRODR(), VL_HELP().