sksurgerycalibration.video.quaternion_utils module¶
Utilities for manipulating quaternions.
-
sksurgerycalibration.video.quaternion_utils.
quat_conjugate
(q)[source]¶ Obtains the conjugate of a quaternion.
-
sksurgerycalibration.video.quaternion_utils.
quat_multiply
(q, r)[source]¶ Calculates the quaternion product n, for two given quaternions q and r: n = q x r
-
sksurgerycalibration.video.quaternion_utils.
quat_to_rotm
(q)[source]¶ Get the corresponding rotation matrix of a quaternion.
-
sksurgerycalibration.video.quaternion_utils.
rotm_to_quat
(M)[source]¶ Get the corresponding quaternion of a rotation matrix. Assuming the rotation matrix is not strictly orthonormal.
-
sksurgerycalibration.video.quaternion_utils.
rotm_to_quat_precise
(M)[source]¶ Get the corresponding quaternion of a rotation matrix. Assuming the rotation matrix is orthonormal.