rodrigues.m

在手眼标定中需要使用罗德里格斯计算旋转矩阵对应的旋转轴
rodrigues.m文件内容如下：

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.
%% FOR ALL JACOBIAN MATRICES !!! LOOK AT THE TEST AT THE END !!

%% BUG when norm(om)=pi fixed -- April 6th, 1997;
%% Jean-Yves Bouguet

%% Add projection of the 3x3 matrix onto the set of special ortogonal matrices SO(3) by SVD -- February 7th, 2003;
%% Jean-Yves Bouguet

% BUG FOR THE CASE norm(om)=pi fixed by Mike Burl on Feb 27, 2007


[m,n] = size(in);
%bigeps = 10e+4*eps;
bigeps = 10e+20*eps;

if ((m==1) & (n==3)) | ((m==3) & (n==1)) %% it is a rotation vector
    theta = norm(in);
    if theta < eps
        R = eye(3);

        %if nargout > 1,

        dRdin = [0 0 0;
            0 0 1;
            0 -1 0;
            0 0 -1;
            0 0 0;
            1 0 0;
            0 1 0;
            -1 0 0;
            0 0 0];

        %end;

    else
        if n==length(in)  in=in'; end; 	%% make it a column vec. if necess.

        %m3 = [in,theta]

        dm3din = [eye