文章目录
- 前言
- 实现
前言
本文主要是将python实现四元数、欧拉角、旋转矩阵变换的所有转换做了一个整理，方便大家调用实现变换。
实现
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import numpy as np
from scipy.spatial.transform import Rotationdef quaternion2euler(quaternion):r = Rotation.from_quat(quaternion)euler = r.as_euler('xyz', degrees=False)return eulerdef quaternion2rot(quaternion):r = Rotation.from_quat(quaternion)rot = r.as_matrix()return rotdef euler2quaternion(euler):r = Rotation.from_euler('xyz', euler, degrees=False)quaternion = r.as_quat()return quaterniondef euler2rot(euler):r = Rotation.from_euler('xyz', euler, degrees=False)rotation_matrix = r.as_matrix()return rotation_matrixdef rot2euler
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