python代码,两个4*4旋转矩阵之间的位姿变化,也就是求两个旋转矩阵之间的相对旋转矩阵
import numpy as np
def get_transform_matrix(rot_mat1, rot_mat2):
"""Calculate the transformation matrix that transforms points or vectors from the coordinate frame
represented by rot_mat1 to the coordinate frame represented by rot_mat2."""
rot_mat_diff = np.dot(rot_mat2, np.linalg.inv(rot_mat1))
transform_matrix = np.eye(4)
transform_matrix[:3, :3] = rot_mat_diff
return transform_matrix
# Example usage:
rot_mat1 = np.array([[1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]]) # initial rotation matrix
rot_mat2 = np.array([[0, 0, 1, 0],
[0, 1, 0, 0],
[-1, 0, 0, 0],
[0, 0, 0, 1]]) # final rotation matrix
transform_matrix = get_transform_matrix(rot_mat1, rot_mat2) # transformation matrix from initial to final pose
print(transform_matrix)
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