Python根据欧拉角求旋转矩阵

利用numpy和scipy,我们可以很容易根据欧拉角求出旋转矩阵,这里的旋转轴我们你理解成四元数里面的旋转轴

    import numpy as np
    import scipy.linalg as linalg
    import math
    #参数分别是旋转轴和旋转弧度值
    def rotate_mat(self, axis, radian):
        rot_matrix = linalg.expm(np.cross(np.eye(3), axis / linalg.norm(axis) * radian))

    axis_x, axis_y, axis_z = [1,0,0], [0,1,0], [0, 0, 1]#分别是x,y和z轴,也可以自定义旋转轴
    yaw = 0.7854 #pi/4
    rot_matrix = rotate_mat(axis_z, yaw)#绕Z轴旋转pi/4

求出旋转矩阵后我们可以结合原始坐标, 直接用np.dot求出旋转前后的坐标.

new_coor = np.dot(old_coor, rot_matrix)

参考:https://stackoverflow.com/questions/6802577/rotation-of-3d-vector