四元数转换为旋转平移矩阵

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最新推荐文章于 2024-07-26 21:19:18 发布

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# 将translation和rotation转换为手眼矩阵
# 经验证，此程序可用
import numpy as np
from scipy.spatial.transform import Rotation

# Translation vector
translation = np.array([0.02111988839859031, -0.06686781041966289, 0.03838598336018828])

# Rotation quaternion
rotation_quaternion = np.array([-0.00176506715140691, 0.0016587793444772236, 0.38548107576385465, 0.922712562601145])

# Convert quaternion to rotation matrix
rotation = Rotation.from_quat(rotation_quaternion)
rotation_matrix = rotation.as_matrix()

# Construct hand-eye matrix
hand_eye_matrix = np.eye(4)
hand_eye_matrix[:3, :3] = rotation_matrix
hand_eye_matrix[:3, 3] = translation

print("Hand-Eye Matrix:")
print(hand_eye_matrix)