scipy batch_szie = 24 旋转矩阵转欧拉角
时间: 2024-03-16 20:46:56 浏览: 138
Scipy 中没有提供直接将旋转矩阵批量转换为欧拉角的函数,但我们可以使用 Numpy 库来实现。以下是一个将批量旋转矩阵转换为欧拉角的示例代码,其中假设旋转矩阵的维度为 `(batch_size, 3, 3)`:
```python
import numpy as np
from scipy.spatial.transform import Rotation
# 生成 batch_size 个随机旋转矩阵
batch_size = 24
R = np.random.rand(batch_size, 3, 3)
# 将旋转矩阵转换为旋转对象
r = Rotation.from_matrix(R)
# 将旋转对象转换为欧拉角
euler_angles = r.as_euler('xyz', degrees=True)
print(euler_angles)
```
在上面的代码中,我们首先使用 Numpy 库生成了 `batch_size` 个随机旋转矩阵。然后,我们使用 `Rotation.from_matrix` 将旋转矩阵转换为旋转对象 `r`,并使用 `r.as_euler` 将其转换为欧拉角。第一个参数 `'xyz'` 表示使用 x-y-z 轴顺序,第二个参数 `degrees=True` 表示将角度作为输出单位。
注意,以上代码中假设旋转矩阵的维度为 `(batch_size, 3, 3)`。如果旋转矩阵的维度为 `(3, 3, batch_size)`,则需要先对矩阵进行转置,例如:
```python
R = np.random.rand(3, 3, batch_size)
R = np.transpose(R, (2, 0, 1))
# 将旋转矩阵转换为旋转对象
r = Rotation.from_matrix(R)
# 将旋转对象转换为欧拉角
euler_angles = r.as_euler('xyz', degrees=True)
print(euler_angles)
```
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