# Calculates rotation matrix to euler angles# The result is the same as MATLAB except the order# of the euler angles ( x and z are swapped ).def rotationMatrixToEulerAngles(R) : assert(isRotationMatrix(R)) sy = math.sqrt(R[0,0] * R[0,0] + R[1,0] * R[1,0]) singular = ...
print(f"Euler angles:\ntheta_x: {theta_x}\ntheta_y: {theta_y}\ntheta_z: {theta_z}") return theta_x, theta_y, theta_z # 旋转矩阵到欧拉角(角度制) def rotateMatrixToEulerAngles2(R): theta_z = np.arctan2(RM[1, 0], RM[0, 0]) / np.pi * 180 theta_y = np.arctan2(-...
import numpy as np def rotation_matrix_to_euler_angles(R): """ 将旋转矩阵转换为欧拉角(ZYX顺序,弧度单位) 参数: R (numpy.ndarray): 3x3旋转矩阵 返回: tuple: 包含欧拉角 (roll, pitch, yaw) 的元组,单位为弧度 """ assert R.shape == (3, 3), "旋转矩阵必须是 3x3 的" yaw = np.arctan...
# Calculates rotation matrix to euler angles # The result is the same as MATLAB except the order # of the euler angles ( x and z are swapped ). def rotationMatrixToEulerAngles(R) : assert(isRotationMatrix(R)) sy = math.sqrt(R[0,0] * R[0,0] + R[1,0] * R[1,0]) singular ...
计算欧拉角可以通过旋转矩阵来实现。在Python中,你可以使用NumPy库来进行矩阵运算和数学计算。首先,你需要导入NumPy库,然后使用相应的函数来进行计算。 假设你有一个3x3的旋转矩阵R,你可以使用以下代码来计算对应的欧拉角: python. import numpy as np. def rotation_matrix_to_euler_angles(R): sy = np.sqrt(R[...
rotateMatrixToEulerAngles2(RM) euler_angles = [-0.05366141770874149, -1.2561686529408898,1.6272221428848495] eulerAnglesToRotationMatrix(euler_angles) rotateToQuaternion(RM) 输出结果如下: 0.567+0.412i -0.419j+0.577k x:0.41198412875061946, y: -0.41923809520381, z:0.5770317346112972, w:0.567047506333421...
from scipy.spatial.transformimportRotation ### first transform the matrix to euler angles r=...
def quaternion_to_rotation_matrix(q): q = q.normalize() w, x, y, z = q.to_array() R = np.array([ [1 - 2*y2 - 2*z2, 2*x*y - 2*z*w, 2*x*z + 2*y*w], [2*x*y + 2*z*w, 1 - 2*x2 - 2*z2, 2*y*z - 2*x*w], [2*x*z - 2*y*w, 2*y*z +...
# roll, pitch, yaw = rotation_matrix_to_euler_angles(R) # print(f"绕 X 轴的角度 (roll): {roll:.2f}°") # print(f"绕 Y 轴的角度 (pitch): {pitch:.2f}°") # print(f"绕 Z 轴的角度 (yaw): {yaw:.2f}°")def rotation_matrix_to_quaternion(R): ...
importnumpyasnpdefrotation_matrix_to_euler_angles(R):assertR.shape==(3,3),"输入必须是3x3的矩阵"sy=np.sqrt(R[0,0]*R[0,0]+R[1,0]*R[1,0])singular=sy<1e-6ifnotsingular:x=np.arctan2(R[2,1],R[2,2])y=np.arctan2(-R[2,0],sy)z=np.arctan2(R[1,0],R[0,0])else:...