mindsponge.common.quaternion_from_tensor

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mindsponge.common.quaternion_from_tensor(tensor, normalize=False)[源代码]

利用输入的 tensor \([(xx, xy, xz, yx, yy, yz, zz)]\) ,进行仿射变换得到新的 quaternionrotationtranslation

\[\begin{split}\begin{split} &tensor = [(xx, xy, xz, yx, yy, yz, zz)] \\ &quaternion = (xx, xy, xz, yx) \\ &translation = (yy, yz, zz) \\ \end{split}\end{split}\]

再用生成的 quaterniontranslation 进行仿射变换。仿射变换的过程参照 quat_affine API。

参数:
  • tensor (Tensor) - 输入的初始Tensor \([(xx, xy, xz, yx, yy, yz, zz)]\) ,其中 \([(xx, xy, xz, yx)]\)quaternion 一致,\((yy, yz, zz)\)translation 一致。

  • normalize (bool) - 控制是否要在仿射变换过程求范数。默认值: False

返回:
  • quaternion (Tensor) - 四元数,shape为 \((..., 4)\) 的Tensor。

  • rotation (Tuple) - 旋转矩阵 \((xx, xy, xz, yx, yy, yz, zx, zy, zz)\) ,且xx, xy等均为Tensor且shape相同。

  • translation (Tuple) - 平移向量 \([(x, y, z)]\) ,其中x, y, z均为Tensor,且shape相同。

支持平台:

Ascend GPU

样例:

>>> import numpy as np
>>> from mindsponge.common.geometry import quaternion_from_tensor
>>> from mindspore.common import Tensor
>>> tensor = Tensor(np.random.rand(7),dtype=mstype.float32)
>>> quaternion, rotation, translation = quaternion_from_tensor(tensor)
>>> print(quaternion)
[4.17021990e-01,  7.20324516e-01,  1.14374816e-04,  3.02332580e-01]
>>> print(rotation)
(Tensor(shape=[], dtype=Float32, value= 0.60137), Tensor(shape=[], dtype=Float32, value= -0.251994),
Tensor(shape=[], dtype=Float32, value= 0.435651), Tensor(shape=[], dtype=Float32, value= 0.252323),
Tensor(shape=[], dtype=Float32, value= -0.436365), Tensor(shape=[], dtype=Float32, value= -0.600713),
Tensor(shape=[], dtype=Float32, value= 0.43546), Tensor(shape=[], dtype=Float32, value= 0.600851),
Tensor(shape=[], dtype=Float32, value= -0.253555))
>>> print(translation)
(Tensor(shape=[], dtype=Float32, value= 0.146756),Tensor(shape=[], dtype=Float32, value= 0.0923386),
Tensor(shape=[], dtype=Float32, value= 0.18626))