rodrigues.m
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在手眼标定过程中，需借助罗德里格斯公式来求解与旋转矩阵相对应的旋转轴
rodrigues.m文件的具体内容如下：
function [out,dout]=rodrigues(in)
% RODRIGUES Transform rotation matrix into rotation vector and viceversa.
%
% Sintax: [OUT]=RODRIGUES(IN)
% If IN is a 3x3 rotation matrix then OUT is the
% corresponding 3x1 rotation vector
% if IN is a rotation 3-vector then OUT is the
% corresponding 3x3 rotation matrix
%
%%
%% Copyright (c) March 1993 -- Pietro Perona
%% California Institute of Technology
%%
%% ALL CHECKED BY JEAN-YVES BOUGUET, October 1995.全部评论 (0)
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