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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 | % VL_IRODR Inverse Rodrigues' formula
% OM = VL_IRODR(R) where R is a rotation matrix computes the the
% inverse Rodrigues' formula of om, returning the rotation matrix R
% = dehat(Logm(OM)).
%
% [OM,DOM] = VL_IRODR(R) computes also the derivative of the Rodrigues'
% formula. In matrix notation this is the expression
%
% d( dehat logm(vl_hat(R)) )
% dom = ----------------------.
% d(vec R)^T
%
% [OM,DOM] = VL_IRODR(R) when R is a 9xK matrix repeats the operation
% for each column (or equivalently matrix with 9*K elements). In
% this case OM and DOM are arrays with K slices, one per rotation.
%
% See also: VL_RODR(), VL_HELP().
% Copyright (C) 2007-12 Andrea Vedaldi and Brian Fulkerson.
% All rights reserved.
%
% This file is part of the VLFeat library and is made available under
% the terms of the BSD license (see the COPYING file).
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