open source pkg v1

2020-08-04 19:12:31 -04:00
parent bef213dba9
commit c389fc2c47
3708 changed files with 1624220 additions and 1 deletions
--- a/pkg/OpenFace/matlab_version/PDM_helpers/Rot2AxisAngle.m
+++ b/pkg/OpenFace/matlab_version/PDM_helpers/Rot2AxisAngle.m
@@ -0,0 +1,11 @@
+function [ axisAngle ] = Rot2AxisAngle( Rot )
+%ROT2AXISANGLE Summary of this function goes here
+%   Detailed explanation goes here
+
+    theta = acos((trace(Rot) - 1) / 2);
+
+    vec = 1.0/(2*sin(theta));
+    vec = vec * [Rot(3,2) - Rot(2,3), Rot(1,3) - Rot(3,1), Rot(2,1) - Rot(1,2)];
+    axisAngle = vec * theta;
+end
+