www.gusucode.com > 基于matlab的三维重建代码,提取两幅图片的匹配点源码程序 > 基于matlab的三维重建代码,提取两幅图片的匹配点源码程序/code/code/exp_rotation.m
% takes rotation matrix returns angle-axis function[omega, theta] = exp_rotation(R) theta = 0; theta = acos((R(1,1) + R(2,2) + R(3,3)-1)/2); if theta ~= 0 omega = 1/(2*sin(theta))*[R(3,2)-R(2,3) R(1,3)-R(3,1) R(2,1)-R(1,2)]'; else omega = [1 0 0]'; theta = 0; %error(' Rotation matrix arbitrary'); end