gusucode.com > vision工具箱matlab源码程序 > vision/rotationVectorToMatrix.m
% rotationVectorToMatrix Convert a 3-D rotation vector into a rotation matrix % % rotationMatrix = rotationVectorToMatrix(rotationVector) reconstructs a % 3D rotationMatrix from a rotationVector (axis-angle representation) using % the Rodrigues formula. rotationVector is a 3-element vector representing % the axis of rotation in 3-D. The magnitude of the vector is the rotation % angle in radians. rotationMatrix is a 3-by-3 3-D rotation matrix % corresponding to rotationVector. % % Class Support % ------------- % rotationVector can be double or single. rotationMatrix is the same class % as rotationVector. % % Example % ------- % % Create a vector representing 90-degree rotation about Z-axis % rotationVector = pi/2 * [0, 0, 1]; % % % Find the equivalent rotation matrix % rotationMatrix = rotationVectorToMatrix(rotationVector) % % See also rotationMatrixToVector, cameraParameters, relativeCameraPose, % estimateWorldCameraPose, extrinsics % References: % [1] R. Hartley, A. Zisserman, "Multiple View Geometry in Computer % Vision," Cambridge University Press, 2003. % % [2] E. Trucco, A. Verri. "Introductory Techniques for 3-D Computer % Vision," Prentice Hall, 1998. %#codegen function rotationMatrix = rotationVectorToMatrix(rotationVector) validateattributes(rotationVector, {'single', 'double'}, ... {'real', 'nonsparse', 'vector', 'numel', 3}, mfilename, 'rotationVector'); rotationMatrix = vision.internal.calibration.rodriguesVectorToMatrix(rotationVector)';