本文整理汇总了Python中scipy.spatial.transform.Rotation.from_dcm方法的典型用法代码示例。如果您正苦于以下问题：Python Rotation.from_dcm方法的具体用法？Python Rotation.from_dcm怎么用？Python Rotation.from_dcm使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类scipy.spatial.transform.Rotation的用法示例。
在下文中一共展示了Rotation.from_dcm方法的11个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: test_apply_single_rotation_single_point
# 需要导入模块: from scipy.spatial.transform import Rotation [as 别名]
# 或者: from scipy.spatial.transform.Rotation import from_dcm [as 别名]
def test_apply_single_rotation_single_point():
dcm = np.array([
[0, -1, 0],
[1, 0, 0],
[0, 0, 1]
])
r_1d = Rotation.from_dcm(dcm)
r_2d = Rotation.from_dcm(np.expand_dims(dcm, axis=0))
v_1d = np.array([1, 2, 3])
v_2d = np.expand_dims(v_1d, axis=0)
v1d_rotated = np.array([-2, 1, 3])
v2d_rotated = np.expand_dims(v1d_rotated, axis=0)
assert_allclose(r_1d.apply(v_1d), v1d_rotated)
assert_allclose(r_1d.apply(v_2d), v2d_rotated)
assert_allclose(r_2d.apply(v_1d), v2d_rotated)
assert_allclose(r_2d.apply(v_2d), v2d_rotated)
v1d_inverse = np.array([2, -1, 3])
v2d_inverse = np.expand_dims(v1d_inverse, axis=0)
assert_allclose(r_1d.apply(v_1d, inverse=True), v1d_inverse)
assert_allclose(r_1d.apply(v_2d, inverse=True), v2d_inverse)
assert_allclose(r_2d.apply(v_1d, inverse=True), v2d_inverse)
assert_allclose(r_2d.apply(v_2d, inverse=True), v2d_inverse)示例2: test_from_dcm_calculation
# 需要导入模块: from scipy.spatial.transform import Rotation [as 别名]
# 或者: from scipy.spatial.transform.Rotation import from_dcm [as 别名]
def test_from_dcm_calculation():
expected_quat = np.array([1, 1, 6, 1]) / np.sqrt(39)
dcm = np.array([
[-0.8974359, -0.2564103, 0.3589744],
[0.3589744, -0.8974359, 0.2564103],
[0.2564103, 0.3589744, 0.8974359]
])
assert_array_almost_equal(
Rotation.from_dcm(dcm).as_quat(),
expected_quat)
assert_array_almost_equal(
Rotation.from_dcm(dcm.reshape((1, 3, 3))).as_quat(),
expected_quat.reshape((1, 4)))示例3: test_apply_multiple_rotations_single_point
# 需要导入模块: from scipy.spatial.transform import Rotation [as 别名]
# 或者: from scipy.spatial.transform.Rotation import from_dcm [as 别名]
def test_apply_multiple_rotations_single_point():
dcm = np.empty((2, 3, 3))
dcm[0] = np.array([
[0, -1, 0],
[1, 0, 0],
[0, 0, 1]
])
dcm[1] = np.array([
[1, 0, 0],
[0, 0, -1],
[0, 1, 0]
])
r = Rotation.from_dcm(dcm)
v1 = np.array([1, 2, 3])
v2 = np.expand_dims(v1, axis=0)
v_rotated = np.array([[-2, 1, 3], [1, -3, 2]])
assert_allclose(r.apply(v1), v_rotated)
assert_allclose(r.apply(v2), v_rotated)
v_inverse = np.array([[2, -1, 3], [1, 3, -2]])
assert_allclose(r.apply(v1, inverse=True), v_inverse)
assert_allclose(r.apply(v2, inverse=True), v_inverse)示例4: test_apply_single_rotation_multiple_points
# 需要导入模块: from scipy.spatial.transform import Rotation [as 别名]
# 或者: from scipy.spatial.transform.Rotation import from_dcm [as 别名]
def test_apply_single_rotation_multiple_points():
dcm = np.array([
[0, -1, 0],
[1, 0, 0],
[0, 0, 1]
])
r1 = Rotation.from_dcm(dcm)
r2 = Rotation.from_dcm(np.expand_dims(dcm, axis=0))
v = np.array([[1, 2, 3], [4, 5, 6]])
v_rotated = np.array([[-2, 1, 3], [-5, 4, 6]])
assert_allclose(r1.apply(v), v_rotated)
assert_allclose(r2.apply(v), v_rotated)
v_inverse = np.array([[2, -1, 3], [5, -4, 6]])
assert_allclose(r1.apply(v, inverse=True), v_inverse)
assert_allclose(r2.apply(v, inverse=True), v_inverse)示例5: test_from_single_3d_dcm
# 需要导入模块: from scipy.spatial.transform import Rotation [as 别名]
# 或者: from scipy.spatial.transform.Rotation import from_dcm [as 别名]
def test_from_single_3d_dcm():
dcm = np.array([
[0, 0, 1],
[1, 0, 0],
[0, 1, 0]
]).reshape((1, 3, 3))
expected_quat = np.array([0.5, 0.5, 0.5, 0.5]).reshape((1, 4))
assert_array_almost_equal(
Rotation.from_dcm(dcm).as_quat(),
expected_quat)示例6: test_from_single_2d_dcm
# 需要导入模块: from scipy.spatial.transform import Rotation [as 别名]
# 或者: from scipy.spatial.transform.Rotation import from_dcm [as 别名]
def test_from_single_2d_dcm():
dcm = [
[0, 0, 1],
[1, 0, 0],
[0, 1, 0]
]
expected_quat = [0.5, 0.5, 0.5, 0.5]
assert_array_almost_equal(
Rotation.from_dcm(dcm).as_quat(),
expected_quat)示例7: test_from_dcm_ortho_output
# 需要导入模块: from scipy.spatial.transform import Rotation [as 别名]
# 或者: from scipy.spatial.transform.Rotation import from_dcm [as 别名]
def test_from_dcm_ortho_output():
np.random.seed(0)
dcm = np.random.random((100, 3, 3))
ortho_dcm = Rotation.from_dcm(dcm).as_dcm()
mult_result = np.einsum('...ij,...jk->...ik', ortho_dcm,
ortho_dcm.transpose((0, 2, 1)))
eye3d = np.zeros((100, 3, 3))
for i in range(3):
eye3d[:, i, i] = 1.0
assert_array_almost_equal(mult_result, eye3d)示例8: test_getitem
# 需要导入模块: from scipy.spatial.transform import Rotation [as 别名]
# 或者: from scipy.spatial.transform.Rotation import from_dcm [as 别名]
def test_getitem():
dcm = np.empty((2, 3, 3))
dcm[0] = np.array([
[0, -1, 0],
[1, 0, 0],
[0, 0, 1]
])
dcm[1] = np.array([
[1, 0, 0],
[0, 0, -1],
[0, 1, 0]
])
r = Rotation.from_dcm(dcm)
assert_allclose(r[0].as_dcm(), dcm[0])
assert_allclose(r[1].as_dcm(), dcm[1])
assert_allclose(r[:-1].as_dcm(), np.expand_dims(dcm[0], axis=0))示例9: test_n_rotations
# 需要导入模块: from scipy.spatial.transform import Rotation [as 别名]
# 或者: from scipy.spatial.transform.Rotation import from_dcm [as 别名]
def test_n_rotations():
dcm = np.empty((2, 3, 3))
dcm[0] = np.array([
[0, -1, 0],
[1, 0, 0],
[0, 0, 1]
])
dcm[1] = np.array([
[1, 0, 0],
[0, 0, -1],
[0, 1, 0]
])
r = Rotation.from_dcm(dcm)
assert_equal(len(r), 2)
assert_equal(len(r[0]), 1)
assert_equal(len(r[1]), 1)
assert_equal(len(r[:-1]), 1)示例10: test_apply_multiple_rotations_multiple_points
# 需要导入模块: from scipy.spatial.transform import Rotation [as 别名]
# 或者: from scipy.spatial.transform.Rotation import from_dcm [as 别名]
def test_apply_multiple_rotations_multiple_points():
dcm = np.empty((2, 3, 3))
dcm[0] = np.array([
[0, -1, 0],
[1, 0, 0],
[0, 0, 1]
])
dcm[1] = np.array([
[1, 0, 0],
[0, 0, -1],
[0, 1, 0]
])
r = Rotation.from_dcm(dcm)
v = np.array([[1, 2, 3], [4, 5, 6]])
v_rotated = np.array([[-2, 1, 3], [4, -6, 5]])
assert_allclose(r.apply(v), v_rotated)
v_inverse = np.array([[2, -1, 3], [4, 6, -5]])
assert_allclose(r.apply(v, inverse=True), v_inverse)示例11: test_dcm_calculation_pipeline
# 需要导入模块: from scipy.spatial.transform import Rotation [as 别名]
# 或者: from scipy.spatial.transform.Rotation import from_dcm [as 别名]
def test_dcm_calculation_pipeline():
dcm = special_ortho_group.rvs(3, size=10, random_state=0)
assert_array_almost_equal(Rotation.from_dcm(dcm).as_dcm(), dcm)