def orientation_matrix(axis1, axis2, axis3): """Returns the matrix that maps world axes 1,2,3 to the camera's coordinate system (left,down,forward) (assuming no camera motion). Each axis can be either a 3-tuple or any element of ['x','y','z','-x','-y','-z']""" if isinstance(axis1, str): axis1 = basis_vectors[axis1] if isinstance(axis2, str): axis2 = basis_vectors[axis2] if isinstance(axis3, str): axis3 = basis_vectors[axis3] return so3.inv(so3.from_matrix([axis1, axis2, axis3]))
def orientation_matrix(axis1,axis2,axis3): """Returns the matrix that maps world axes 1,2,3 to the camera's coordinate system (left,down,forward) (assuming no camera motion). Each axis can be either a 3-tuple or any element of ['x','y','z','-x','-y','-z']""" if isinstance(axis1,str): axis1 = basis_vectors[axis1] if isinstance(axis2,str): axis2 = basis_vectors[axis2] if isinstance(axis3,str): axis3 = basis_vectors[axis3] return so3.inv(so3.from_matrix([axis1,axis2,axis3]))
def writeMatrix3(x): """Writes a 3x3 matrix to a string""" return writeSo3(so3.from_matrix(text))
def from_rotation(mat): """Returns a transformation T corresponding to the 3x3 rotation matrix mat""" R = so3.from_matrix(R) return (R, [0., 0., 0.])
def from_rotation(mat): """Returns a transformation T corresponding to the 3x3 rotation matrix mat""" R = so3.from_matrix(R) return (R,[0.,0.,0.])
def expmap_from_euler(ai, aj, ak, axes="sxyz"): matrix = transformations.euler_matrix(ai, aj, ak, axes) R = so3.from_matrix(matrix) moment = so3.moment(R) axis_angle_parameters = vectorops.unit(moment) + [vectorops.norm(moment)] return axis_angle_parameters
def writeMatrix3(x): """Writes a 3x3 matrix from text""" return writeSo3(so3.from_matrix(text))