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Ivan
2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
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12
thirdparty/opengv/matlab/helpers/rot2cayley.m vendored Normal file
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function v = rot2cayley(R)
C1 = R-eye(3);
C2 = R+eye(3);
C = C1 * inv(C2);
v = zeros(3,1);
v(1,1) = -C(2,3);
v(2,1) = C(1,3);
v(3,1) = -C(1,2);
end