Module imagingbook.calibrate.lib

Package imagingbook.calibration.zhang.util

Class Rotations

java.lang.Object

imagingbook.calibration.zhang.util.Rotations

public class Rotations
extends Object

This class defines methods for converting between Rodrigues rotation vectors and 3D rotation matrices, plus some related utility methods. None of these methods is currently used in other parts of the calibration library.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DefaultOrthogonalityThreshold

Constructor Summary

Constructors

Constructor	Description
Rotations()

Method Summary

Modifier and Type	Method	Description
static boolean	isRotationMatrix(double[][] R)	Checks if the specified matrix is a rotation matrix using the default orthogonality threshold (DefaultOrthogonalityThreshold).
static boolean	isRotationMatrix(double[][] R, double threshold)	Checks if the specified matrix is a rotation matrix under the given orthogonality threshold.
static double	normalizeAngle(double angle)	Normalized the given angle to [-π,π].
static double[]	toRodriguesVector(double[][] R)	Converts a 3D rotation matrix (R) to the equivalent Rodrigues rotation vector.
static double[][]	toRotationMatrix(double[] rv)	Converts a given Rodrigues rotation vector to the equivalent 3D rotation matrix.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

DefaultOrthogonalityThreshold

public static final double DefaultOrthogonalityThreshold

See Also:

• Constant Field Values

Constructor Details

Rotations

public Rotations()

Method Details

toRotationMatrix

public static double[][] toRotationMatrix(double[] rv)

Converts a given Rodrigues rotation vector to the equivalent 3D rotation matrix. Hand-made calculation (uses no library methods).

Parameters:

rv - Rodrigues rotation vector

Returns:

the 3D rotation matrix

toRodriguesVector

public static double[] toRodriguesVector(double[][] R)

Converts a 3D rotation matrix (R) to the equivalent Rodrigues rotation vector. From "Vector Representation of Rotations", Carlo Tomasi (https://www.cs.duke.edu/courses/fall13/compsci527/notes/rodrigues.pdf). Matlab code: http://www.cs.duke.edu/courses/fall13/compsci527/notes/rodrigues.m

Parameters:

R - a 3D rotation matrix

Returns:

the Rodrigues rotation vector

isRotationMatrix

public static boolean isRotationMatrix(double[][] R,
 double threshold)

Checks if the specified matrix is a rotation matrix under the given orthogonality threshold.

Parameters:

R - the matrix to be checked

threshold - the orthogonality threshold

Returns:

isRotationMatrix

public static boolean isRotationMatrix(double[][] R)

Checks if the specified matrix is a rotation matrix using the default orthogonality threshold (DefaultOrthogonalityThreshold).

Parameters:

R - the matrix to be checked

Returns:

normalizeAngle

public static double normalizeAngle(double angle)

Normalized the given angle to [-π,π].

Parameters:

angle - some angle (any finite value)

Returns:

the equivalent angle in [-π,π]