| import itertools | |
| import numpy as np | |
| from scipy.spatial.transform import Rotation | |
| out = [] | |
| for perm in itertools.permutations(range(3)): | |
| for signs in itertools.product([1, -1], repeat=3): | |
| M = np.zeros((3, 3)) | |
| for i, p in enumerate(perm): | |
| M[i, p] = signs[i] | |
| if abs(np.linalg.det(M) - 1.0) < 1e-6: | |
| out.append(M) | |
| print("всего разворотов: %d" % len(out)) | |
| for idx in (22, 18, 19, 15): | |
| M = out[idx] | |
| R = Rotation.from_matrix(M) | |
| rv = R.as_rotvec() | |
| ang = float(np.linalg.norm(rv)) | |
| ax = np.round(rv / ang, 3) if ang > 1e-9 else np.zeros(3) | |
| print("") | |
| print("#%d" % idx) | |
| print(M.astype(int)) | |
| print(" ось %s угол %.1f градусов" % (ax, np.degrees(ang))) | |
| print(" кватернион xyzw %s" % np.round(R.as_quat(), 4)) | |