/external/ceres-solver/include/ceres/ |
rotation.h | 80 // The value angle_axis is a triple whose norm is an angle in radians, 86 void AngleAxisToQuaternion(const T* angle_axis, T* quaternion); 90 // and angle_axis will be filled with a value whose norm is the angle of 95 void QuaternionToAngleAxis(const T* quaternion, T* angle_axis); 101 void RotationMatrixToAngleAxis(const T* R, T* angle_axis); 106 T* angle_axis); 109 void AngleAxisToRotationMatrix(const T* angle_axis, T* R); 113 const T* angle_axis, 194 // y = R(angle_axis) * x; 196 void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3]) 304 RotationMatrixToAngleAxis(ColumnMajorAdapter3x3(R), angle_axis); local [all...] |
/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 [all...] |
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]); 922 double angle_axis[3]; local 933 angle_axis[k] = 2.0 * RandDouble() - 1.0 957 << " " << angle_axis[2]; local 964 double angle_axis[3]; local 998 << " " << angle_axis[2]; local [all...] |