将四元数转换为相机旋转矩阵- OpenCV

import cv2
import numpy as np

w = 0.707  # 实部
x = 0.0  # 虚部1
y = 0.707  # 虚部2
z = 0.0  # 虚部3

rotation_matrix = np.zeros((3, 3), dtype=np.float32)

rotation_matrix[0, 0] = 1 - 2 * (y * y + z * z)
rotation_matrix[0, 1] = 2 * (x * y - z * w)
rotation_matrix[0, 2] = 2 * (x * z + y * w)

rotation_matrix[1, 0] = 2 * (x * y + z * w)
rotation_matrix[1, 1] = 1 - 2 * (x * x + z * z)
rotation_matrix[1, 2] = 2 * (y * z - x * w)

rotation_matrix[2, 0] = 2 * (x * z - y * w)
rotation_matrix[2, 1] = 2 * (y * z + x * w)
rotation_matrix[2, 2] = 1 - 2 * (x * x + y * y)

print(rotation_matrix)