python矩阵拼接

最新推荐文章于 2024-06-12 22:14:14 发布

crasyter

最新推荐文章于 2024-06-12 22:14:14 发布

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分类专栏： Python 文章标签： python 矩阵 numpy

本文链接：https://blog.csdn.net/weixin_41169280/article/details/128995722

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r_cur = R.from_quat(pose_cur[4:8])
Rm_cur = r_cur.as_matrix().reshape(3, 3)
print("Rm_cur: ", Rm_cur)
print("pose_cur: ", pose_cur[1:4][:,None])
Rt_cur = np.concatenate((Rm_cur, pose_cur[1:4][:,None]), 1)
print("Rt_cur: ", Rt_cur)
Rt_cur = np.concatenate((Rt_cur, np.array([[0, 0, 0, 1]])), 0)
print("Rt_cur: ", Rt_cur)

实现结果：

Rm_cur:  [[-0.26450476  0.00700511 -0.96435894]
 [-0.02100228 -0.9997783  -0.00150188]
 [-0.96415566  0.01985648  0.26459325]]
pose_cur:  [[-1.076914]
 [ 0.492415]
 [ 1.329825]]
Rt_cur:  [[-0.26450476  0.00700511 -0.96435894 -1.076914  ]
 [-0.02100228 -0.9997783  -0.00150188  0.492415  ]
 [-0.96415566  0.01985648  0.26459325  1.329825  ]]
Rt_cur:  [[-0.26450476  0.00700511 -0.96435894 -1.076914  ]
 [-0.02100228 -0.9997783  -0.00150188  0.492415  ]
 [-0.96415566  0.01985648  0.26459325  1.329825  ]
 [ 0.          0.          0.          1.        ]]