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))
