sksurgerycalibration.video.quaternion_utils module

Utilities for manipulating quaternions.

sksurgerycalibration.video.quaternion_utils.quat_conjugate(q)

Obtains the conjugate of a quaternion.

sksurgerycalibration.video.quaternion_utils.quat_multiply(q, r)

Calculates the quaternion product n, for two given quaternions q and r: n = q x r

sksurgerycalibration.video.quaternion_utils.quat_to_rotm(q)

Get the corresponding rotation matrix of a quaternion.

sksurgerycalibration.video.quaternion_utils.rotm_to_quat(M)

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)

Get the corresponding quaternion of a rotation matrix. Assuming the rotation matrix is orthonormal.

sksurgerycalibration.video.quaternion_utils.rvec_to_quat(rvec)

Get the corresponding quaternion of a rotation vector.

sksurgerycalibration.video.quaternion_utils.to_one_hemisphere(quaternions)

Transform a group of quaternions to one hemisphere.