标签：__ rotate matrix 矩阵 四元 np quater 点云
旋转矩阵转换为四元数
{ "Array": [
-0.726405369155686,
0.6872664061155301,
0.000355930941022522,
6855.053677575546,
-0.6872643549187422,
-0.7264042997375078,
0.0021212687208797248,
-19706.759414176922,
0.0017164264961726733,
0.0012962823396915819,
0.9999976867634139,
13.437930198386312,
0.0,
0.0,
0.0,
1.0],
"Quaternion": [
{ "w": 0.3698607906598847,
"x": -0.0005576330351997091,
"y": -0.0009195997450303073,
"z": -0.9290865615830163,
"pose_x": 6855.053677575546,
"pose_y": -19706.759414176922,
"pose_z": 13.437930198386312 }] }
代码示例01
from scipy.spatial.transform import Rotation as R
import numpy as np
if __name__ == '__main__':
# "x","y" ,"z" ,"w"
Rquater= [-0.0005576330351997091, -0.0009195997450303073, -0.9290865615830163, 0.3698607906598847]
# 四元数到旋转矩阵
rotate_spat = R.from_quat(Rquater)
rotate_mat = rotate_spat.as_matrix()
print(rotate_mat)
rotate_matrix_list = [
[-0.726405369155686,0.6872664061155301, 0.000355930941022522],
[ -0.6872643549187422, -0.7264042997375078,0.0021212687208797248],
[ 0.0017164264961726733, 0.0012962823396915819,0.9999976867634139]]
rotate_matrix = np.array(rotate_matrix_list)
# 旋转矩阵到四元数
r3 = R.from_matrix(rotate_matrix)
qua = r3.as_quat()
print(qua)
代码示例02
from pyquaternion import Quaternion
import numpy as np
if __name__ == '__main__':
rotate_matrix_list = [-0.726405369155686,0.6872664061155301, 0.000355930941022522],
[ -0.6872643549187422, -0.7264042997375078,0.0021212687208797248],
[ 0.0017164264961726733, 0.0012962823396915819,0.9999976867634139]]
rotate_array = np.array(rotate_matrix_list)
quater = Quaternion(matrix=rotate_array)
print(quater)
print(f"x: {quater.x}, y: {quater.y}, z: {quater.z}, w: {quater.w}")
说明
函数np.allclose(a, b)比较具有给定精确度范围内的浮点数组
附录
https://blog.csdn.net/shyjhyp11/article/details/111701127
http://kieranwynn.github.io/pyquaternion/
https://github.com/KieranWynn/pyquaternion
标签：__,
rotate,
matrix,
矩阵,
四元,
np,
quater,
点云
From： https://www.cnblogs.com/ytwang/p/16850304.html