python 旋转矩阵转四元数

在Python中，可以使用pyquaternion库中的Quaternion类来进行旋转矩阵转换为四元数的操作。首先，你需要安装pyquaternion库，可以使用以下命令在Anaconda环境中进行安装：

conda install pyquaternion

然后，你可以使用以下代码将一个旋转矩阵转换为四元数：

from pyquaternion import Quaternion
import numpy as np

rotate_matrix = [[-0.0174524064372832, -0.999847695156391, 0.0],
                 [0.308969929589947, -0.00539309018185907, -0.951056516295153],
                 [0.950911665781176, -0.0165982248672099, 0.309016994374948]]

RM = np.array(rotate_matrix)
q = Quaternion(matrix=RM)

print(f"x: {q.x}, y: {q.y}, z: {q.z}, w: {q.w}")

运行以上代码，你会得到旋转矩阵对应的四元数。例如，输出结果为：

x: 0.41198412875061946, y: -0.41923809520381, z: 0.5770317346112972, w: 0.567047506333421

这样你就成功将旋转矩阵转换为了四元数。<span class="em">1</span><span class="em">2</span><span class="em">3</span>
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