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Ivan
2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
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12
thirdparty/opengv/matlab/helpers/perturb.m vendored Normal file
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function [t_perturbed,R_perturbed] = perturb(t,R,amplitude)
t_perturbed = t;
r = rodrigues(R);
for i=1:3
t_perturbed(i,1) = t_perturbed(i,1) + (rand-0.5)*2.0*amplitude;
r(i,1) = r(i,1) + (rand-0.5)*2.0*amplitude;
end
R_perturbed = rodrigues(r);
end