inspirit

var intrinsic:Vector.<Number> = new Vector.<Number>(9, true);
var intrinsicInverse:Vector.<Number> = new Vector.<Number>(9, true);
		
var R:Vector.<Number> = new Vector.<Number>( 9, true );
var t:Vector.<Number> = new Vector.<Number>( 3, true );

// SVD routine
var svd:SVD = new SVD();

// input homography[9] - 3x3 Matrix

rbabich

This file (with a leading space) exists so that the gist has a sensible name, rather than "LICENSE."

nicolov

import numpy as np
from tf.transformations import *

def tilt_torsion_decomposition(R):
  z_axis = [0, 0, 1]
  target_z = np.dot(R.T, z_axis)
  axis = np.cross(z_axis, target_z)
  angle = np.arctan2(np.linalg.norm(axis), np.dot(z_axis, target_z))
  R_tilt = quaternion_matrix(quaternion_about_axis(angle, axis))[:3, :3]
  R_torsion = np.dot(R, R_tilt.T)

gocarlos

// A simple quickref for Eigen. Add anything that's missing.
// Main author: Keir Mierle

#include <Eigen/Dense>

Matrix<double, 3, 3> A;               // Fixed rows and cols. Same as Matrix3d.
Matrix<double, 3, Dynamic> B;         // Fixed rows, dynamic cols.
Matrix<double, Dynamic, Dynamic> C;   // Full dynamic. Same as MatrixXd.
Matrix<double, 3, 3, RowMajor> E;     // Row major; default is column-major.
Matrix3f P, Q, R;                     // 3x3 float matrix.