Rodrigues.m

%RODRIGUES  Converts a rotation matrix to a rotation vector or vice versa
%
%     dst = cv.Rodrigues(src)
%     [dst,jacobian] = cv.Rodrigues(src)
%
% ## Input
% * __src__ Input rotation vector (3x1 or 1x3) or rotation matrix (3x3). Both
%   single and double-precision floating-point types are supported.
%
% ## Output
% * __dst__ Output rotation matrix (3x3) or rotation vector (3x1 or 1x3),
%   respectively. Same data type as `src`.
% * __jacobian__ Optional output Jacobian matrix, 3x9 or 9x3, which is a
%   matrix of partial derivatives of the output array components with respect
%   to the input array components. Same data type as `src`.
%
% The function transforms a rotation matrix in the following way:
%
%     theta <- norm(r)
%     r <- r/theta
%     R = cos(theta) * I + (1 - cos(theta)) * r * r^T + sin(theta) * A
%     A = [0, -rz, ry; rz, 0, -rx; -ry, rx, 0]
%
% Inverse transformation can be also done easily, since
%
%     sin(theta) * A = (R - R^T) / 2
%
% A rotation vector is a convenient and most compact representation of a
% rotation matrix (since any rotation matrix has just 3 degrees of
% freedom). The representation is used in the global 3D geometry
% optimization procedures like cv.calibrateCamera, cv.stereoCalibrate, or
% cv.solvePnP.
%
% See also: cv.calibrateCamera, cv.stereoCalibrate, cv.solvePnP,
%  rotationMatrixToVector, rotationVectorToMatrix
%