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transformation-utils's Introduction

Transformation-utils

记录一些常用的变换的功能，例如旋转变换等。

scipy.spatial.transform提供常用变换的计算API。

pytransform3d库也可以提供相应的计算

记录如下常用功能

  • 由绕xyz三轴旋转角度计算旋转矩阵
  • 由轴角的旋转表示形式换成旋转矩阵
  • 计算一个向量变成另一个向量所需变换的旋转矩阵
  • 计算两个旋转矩阵之间所表示的角度的差值（单位rad）
    • 公式为 $$\arccos \frac{1}{2}\left( tr\left(R_1 \cdot R_2^T\right)-1\right) $$

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