python_四元数/旋转矩阵/欧拉角之间的相互变换(简单易用版)

都在代码里.

import numpy as np
import math
from scipy.spatial.transform import Rotation as R


Rq=[-0.71934025092983234, 1.876085535681999e-06, 3.274841213980097e-08, 0.69465790385533299]

# 四元数到旋转矩阵
r = R.from_quat(Rq)
Rm = r.as_matrix()
# 0:array([ 1.00000000e+00, -2.74458557e-06,  2.55936079e-06])
# 1:array([-2.65358979e-06, -3.49007932e-02,  9.99390782e-01])
# 2:array([-2.65358979e-06, -9.99390782e-01, -3.49007932e-02])

# 符号相反的四元数, 仍表示同一个旋转
Rq1= [0.71934025092983234, -1.876085535681999e-06, -3.274841213980097e-08, -0.69465790385533299]
# 四元数到旋转矩阵
r1 = R.from_quat(Rq1)
Rm1 = r1.as_matrix()
# 0:array([ 1.00000000e+00, -2.74458557e-06,  2.55936079e-06])
# 1:array([-2.65358979e-06, -3.49007932e-02,  9.99390782e-01])
# 2:array([-2.65358979e-06, -9.99390782e-01, -3.49007932e-02])

# 四元数到欧拉角
euler0 = r.as_euler('xyz', degrees=True)
# ([-9.20000743e+01,  1.52039496e-04, -1.52039496e-04])
euler3 =