Python 从齐次矩阵确定变换矩阵
我想找到平移矩阵、旋转矩阵以及比例矩阵。下面是我的代码Python 从齐次矩阵确定变换矩阵,python,numpy,matrix,Python,Numpy,Matrix,我想找到平移矩阵、旋转矩阵以及比例矩阵。下面是我的代码 import numpy as np def get_rotation_from_homogeneous_transform(transform): s = transform.shape if s[0] != s[1]: raise ValueError('Matrix must be a 4x4 homogenous transformation', s) n = s[0] r
import numpy as np
def get_rotation_from_homogeneous_transform(transform):
s = transform.shape
if s[0] != s[1]:
raise ValueError('Matrix must be a 4x4 homogenous transformation', s)
n = s[0]
rotation = transform[0:n - 1, 0:n - 1]
return rotation
homogeneous_matrix = np.array([[-0.008189, 0.000428, -0.999900, 0.000000],
[0.758580, 0.651582, 0.008000, 0.000000],
[0.651582, 0.758580, -0.011300, 0.000000],
[1.294619, 0.885227, 1.358000, 1.000000]]).astype(np.float32).T
rotM = get_rotation_from_homogeneous_transform(homogeneous_matrix)
我是否正确提取了旋转矩阵?如何提取平移和缩放矩阵?这是否回答了您的问题?另见@RichieV No。。它们都不是关于从同质矩阵中提取腐烂矩阵