OpenGV
A library for solving calibrated central and non-central geometric vision problems
cayley.hpp
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30 
37 #ifndef OPENGV_CAYLEY_HPP_
38 #define OPENGV_CAYLEY_HPP_
39 
40 #include <stdlib.h>
41 #include <opengv/types.hpp>
42 
46 namespace opengv
47 {
51 namespace math
52 {
53 
60 rotation_t cayley2rot( const cayley_t & cayley);
61 
71 rotation_t cayley2rot_reduced( const cayley_t & cayley);
72 
79 cayley_t rot2cayley( const rotation_t & R );
80 
81 }
82 }
83 
84 #endif /* OPENGV_CAYLEY_HPP_ */
Eigen::Vector3d cayley_t
Definition: types.hpp:90
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:47
rotation_t cayley2rot(const cayley_t &cayley)
Compute a rotation matrix from Cayley-parameters, following [14].
rotation_t cayley2rot_reduced(const cayley_t &cayley)
Compute a fake rotation matrix from Cayley-parameters, following [14]. The rotation matrix is missing...
cayley_t rot2cayley(const rotation_t &R)
Compute the Cayley-parameters of a rotation matrix, following [14].
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...
Eigen::Matrix3d rotation_t
Definition: types.hpp:71