| /external/ceres-solver/include/ceres/ |
| rotation.h | 55 // The value angle_axis is a triple whose norm is an angle in radians,
61 void AngleAxisToQuaternion(T const* angle_axis, T* quaternion);
65 // and angle_axis will be filled with a value whose norm is the angle of
70 void QuaternionToAngleAxis(T const* quaternion, T* angle_axis);
76 void RotationMatrixToAngleAxis(T const * R, T * angle_axis);
78 void AngleAxisToRotationMatrix(T const * angle_axis, T * R);
143 // y = R(angle_axis) * x;
145 void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3]);
150 inline void AngleAxisToQuaternion(const T* angle_axis, T* quaternion) {
151 const T& a0 = angle_axis[0]
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| /external/ceres-solver/examples/ |
| bal_problem.cc | 180 double* angle_axis,
182 VectorRef angle_axis_ref(angle_axis, 3);
184 QuaternionToAngleAxis(camera, angle_axis);
197 void BALProblem::AngleAxisAndCenterToCamera(const double* angle_axis,
200 ConstVectorRef angle_axis_ref(angle_axis, 3);
202 AngleAxisToQuaternion(angle_axis, camera);
208 AngleAxisRotatePoint(angle_axis,
249 double angle_axis[3]; local
253 CameraToAngleAxisAndCenter(camera, angle_axis, center);
256 AngleAxisAndCenterToCamera(angle_axis, center, camera)
277 double angle_axis[3]; local
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| bal_problem.h | 84 double* angle_axis,
87 void AngleAxisAndCenterToCamera(const double* angle_axis,
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| /external/ceres-solver/internal/ceres/ |
| rotation_test.cc | 293 double angle_axis[3]; local
301 QuaternionToAngleAxis(quaternion, angle_axis);
302 const double angle = sqrt(angle_axis[0] * angle_axis[0] +
303 angle_axis[1] * angle_axis[1] +
304 angle_axis[2] * angle_axis[2]);
887 double angle_axis[3]; local
898 angle_axis[k] = 2.0 * RandDouble() - 1.0
922 << " " << angle_axis[2]; local
929 double angle_axis[3]; local
963 << " " << angle_axis[2]; local
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