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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_RODR Rodrigues' formula
% R = VL_RODR(OM) where OM a 3-dimensional column vector computes the
% Rodrigues' formula of OM, returning the rotation matrix R =
% expm(vl_hat(OM)).
%
% [R,DR] = VL_RODR(OM) computes also the derivative of the Rodrigues
% formula. In matrix notation this is the expression
%
% d(vec expm(vl_hat(OM)) )
% dR = ----------------------.
% d om^T
%
% [R,DR]=VL_RODR(OM) when OM is a 3xK matrix repeats the operation for
% each column (or equivalently matrix with 3*K elements). In this
% case R and DR are arrays with K slices, one per rotation.
%
% See also: VL_IRODR(), 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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