Differential D13466 Diff 46665 intern/libmv/libmv/numeric/numeric.h

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	// This is computed using the Rodrigues formula, see:			// This is computed using the Rodrigues formula, see:
	// http://mathworld.wolfram.com/RodriguesRotationFormula.html			// http://mathworld.wolfram.com/RodriguesRotationFormula.html
	Mat3 RotationRodrigues(const Vec3& axis);			Mat3 RotationRodrigues(const Vec3& axis);

	// Make a rotation matrix such that center becomes the direction of the			// Make a rotation matrix such that center becomes the direction of the
	// positive z-axis, and y is oriented close to up.			// positive z-axis, and y is oriented close to up.
	Mat3 LookAt(Vec3 center);			Mat3 LookAt(Vec3 center);

	// Return a diagonal matrix from a vector containg the diagonal values.			// Return a diagonal matrix from a vector containing the diagonal values.
	template <typename TVec>			template <typename TVec>
	inline Mat Diag(const TVec& x) {			inline Mat Diag(const TVec& x) {
	return x.asDiagonal();			return x.asDiagonal();
	}			}

	template <typename TMat>			template <typename TMat>
	inline double FrobeniusNorm(const TMat& A) {			inline double FrobeniusNorm(const TMat& A) {
	return sqrt(A.array().abs2().sum());			return sqrt(A.array().abs2().sum());
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