写一段由相机外参转化四元数的完整python代码
时间: 2023-03-07 17:26:47 浏览: 209
代码如下:
import numpy as npdef camera_to_quat(R, t):
q = np.zeros(4)
K = np.array([[0, -R[2, 0], R[1, 0]],
[R[2, 0], 0, -R[0, 0]],
[-R[1, 0], R[0, 0], 0]])
q[0] = 0.5 * np.sqrt(np.maximum(np.trace(R) + 1, 0))
q[1:] = 0.5 * np.dot(K, t) / q[0]
return q
相关问题
写一段由相机外参转化四元数的完整python代码,并行行注释
# 将相机外参转化为四元数
# 引入必要的库
import numpy as np # 定义变量
# 相机外参
R = np.array([[0.7, 0.5, 0.7],
[-0.2, 0.8, 0.5],
[-0.7, -0.5, 0.5]])
# 四元数
q = np.array([0, 0, 0, 0])# 用Rodrigues函数将矩阵转换为四元数
q = cv2.Rodrigues(R)[0]# 输出结果
print(q)
写一段外参转化四元数的完整python代码
# 将4元数转换成旋转矩阵
def quaternion_to_rotation_matrix(w, x, y, z):
w2 = w**2
x2 = x**2
y2 = y**2
z2 = z**2
wx = w*x
wy = w*y
wz = w*z
xy = x*y
xz = x*z
yz = y*z
R = np.array([[w2 + x2 - y2 - z2, 2*(xy - wz), 2*(xz + wy)],
[2*(xy + wz), w2 - x2 + y2 - z2, 2*(yz - wx)],
[2*(xz - wy), 2*(yz + wx), w2 - x2 - y2 + z2]])
return R
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