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Structure and Motion Toolkit in MATLAB

Structure and Motion Toolkit in MATLAB

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04 Mar 2004 (Updated )

Structure and Motion Toolkit in MATLAB.

torr_sphere2unit(srot_axis)
%	By Philip Torr 2002
%	copyright Microsoft Corp.
function rot_axis = torr_sphere2unit(srot_axis)

% %convert rot_axis to spherical coords
% sin a sin b
% sin a cos b
% cos a

%undo spherical coordinates
rot_axis(1) = sin(srot_axis(1)) * sin(srot_axis(2));
rot_axis(2) = sin(srot_axis(1)) * cos(srot_axis(2));
rot_axis(3) = cos(srot_axis(1));
rot_axis = rot_axis';

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