rotationVectorToMatrix

Convert 3-D rotation vector to rotation matrix

Syntax

rotationMatrix = rotationVectorToMatrix(rotationVector)

Description

rotationMatrix = rotationVectorToMatrix(rotationVector) returns a 3-D rotation matrix that corresponds to the input axis-angle rotation vector. The function uses the Rodrigues formula for the computation.

Examples

Convert Rotation Vector to Rotation Matrix

Create a vector representing a 90-degree rotation about the Z -axis.

rotationVector = pi/2 * [0, 0, 1];

Find the equivalent rotation matrix.

rotationMatrix = rotationVectorToMatrix(rotationVector)

rotationMatrix = 3×3

    0.0000    1.0000         0
   -1.0000    0.0000         0
         0         0    1.0000

Input Arguments

rotationVector — Rotation vector

three-element vector

Rotation vector, specified as a three-element vector. The vector represents the axis of rotation in 3-D, where the magnitude corresponds to the rotation angle in radians.

Data Types: single | double

Output Arguments

rotationMatrix — Rotation of camera

3-by-3 matrix

Rotation of camera, returned as a 3-by-3 matrix that corresponds to the input axis-angle rotation vector.

References

[1] Trucco, E., and A. Verri. Introductory Techniques for 3-D Computer Vision." Prentice Hall, 1998.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.