\end{bmatrix}] 这个公式描述了如何从四元数得到旋转矩阵。 3. Python代码实现 以下是一个Python函数,用于将四元数转换为旋转矩阵: python import numpy as np def quaternion_to_rotation_matrix(quaternion): """ Convert a quaternion to a 3x3 rotation matrix. Parameters: quaternion (list or numpy array...
def project_points( points: torch.Tensor, intrinsic_matrix: torch.Tensor, extrinsic_matrix: torch.Tensor ) -> torch.Tensor: """ Project the points to the image plane Args: points: Nx3 tensor intrinsic_matrix: 3x4 tensor extrinsic_matrix: 4x4 tensor """ homogeneous = torch.ones((4, points...
下面是将旋转矩阵转换为四元数的Python实现。 importnumpyasnpdefrotation_matrix_to_quaternion(R):"""将旋转矩阵转换为四元数"""w=np.sqrt(1+R[0,0]+R[1,1]+R[2,2])/2x=(R[2,1]-R[1,2])/(4*w)y=(R[0,2]-R[2,0])/(4*w)z=(R[1,0]-R[0,1])/(4*w)returnnp.array([w,...
R_c2w = quaternion_to_rotation_matrix(quaternion) # # 从旋转矩阵获取欧拉角 roll, pitch, yaw = rotation_matrix_to_euler_angles(R_c2w) theta_x,theta_y,theta_z = roll, pitch, yaw flag_ = rec_pose_msg.flag pose_ = rec_pose_msg.pose #print(f"绕 X 轴的角度 滚转会使物体的左侧和右...
Quaternion[2, 1, 1, 3] ** Quaternion[2, 1, 1, 0] ** Quaternion[1, 1, 1, 1] (* Be sure to use ** rather than * when multiplying quaternions *) 1. 2. 计算结果为:Quaternion[-12, 4, 14, 2] 那么将Z-Y-X欧拉角(或RPY角:绕固定坐标系的X-Y-Z依次旋转$\alpha$,$\beta$,$...
q_target, transformations.quaternion_conjugate(q_e)) # convert rotation quaternion to Euler angle forces u_task[3:] = ko * q_r[1:] * np.sign(q_r[0]) NOTE: You will run into issues when the angle is crossed where the arm ‘goes the long way around’. To account for this, use...
(colmap_path)# convert quaternion to rotation matrixrotation_matrix = build_rotation(torch.Tensor(image_dict[image_num].qvec).unsqueeze(0))translation = torch.Tensor(image_dict[image_num].tvec).unsqueeze(0)extrinsic_matrix = get_extrinsic_matrix( rotation_matrix, tra...
bpy.context.object.rotation_euler = v# Rename the active objectdefrename(objName): bpy.context.object.name = objNameclassspec:"""Function Class for operating on SPECIFIED objects"""# Declarativedefscale(objName, v): bpy.data.objects[objName].scale = v# Declarativedeflocation(objName, v):...
Convert from Euler angles with get_rotation_matrix_from_xyz (where xyz can also be of the form yzx, zxy, xzy, zyx, and yxz) # - Convert from Axis-angle representation with get_rotation_matrix_from_axis_angle # - Convert from Quaternions with get_rotation_matrix_from_quaternion mesh = o...
up = Vector3.Transform(up, Matrix.CreateRotationX(-rotationaxes.X)); rotationaxes.Z = (float)Math.Atan2((double)-up.Z, (double)up.Y); } return rotationaxes; } // Converts a Rotation Matrix to a quaternion, then into a Vector3 containing ...