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Category Archives: Computer Vision
Matrix exponential to the Rodrigues' rotation formula
Last time we have seen where the formula came from and today I will try to describe how to do the matrix exponential by means of sine and cosine of the rotation angle and some multiplication and addition. As we will see … Continue reading
Posted in Computer Vision
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Rotation matrix to angleaxis
This time I'm gonna go through a process of extracting rotation axis and angle from the rotation matrix . Lets recap some properties of the rotation matrix that we will be using. Is a square matrix. Is normalized, column and row vectors … Continue reading
Posted in Computer Vision
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Rotation matrix from exponential twist
Last time I described how to derive a geometric derivation of the the famous Rodrigues' rotation formula. While being quite easy to understand there is another way how to get the rotation matrix from the angleaxis representation. The approach I'm gonna … Continue reading
Posted in Computer Vision
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Rodrigues' rotation formula
In many areas of robotics, computer vision and graphic is a need to rotate points or objects by certain angle around a given axis. One way to do it is to use Rodrigue's rotation formula. Where the is a skew … Continue reading
Posted in Computer Vision
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