imcui/third_party/gim/datasets/multifov/utils.py

# -*- coding: utf-8 -*-
# @Author  : xuelun

import numpy as np


def convert(xyzw):
    x, y, z, w = xyzw
    R = np.array([
        [
            1 - 2 * y * y - 2 * z * z,
            2 * x * y - 2 * z * w,
            2 * x * z + 2 * y * w
        ],
        [
            2 * x * y + 2 * z * w,
            1 - 2 * x * x - 2 * z * z,
            2 * y * z - 2 * x * w
        ],
        [
            2 * x * z - 2 * y * w,
            2 * y * z + 2 * x * w,
            1 - 2 * x * x - 2 * y * y
        ]
    ])
    return R