Function quat2rot

utils/cameramath.py:3–9

(qw, qx, qy, qz)

import numpy as np

def quat2rot(qw, qx, qy, qz):
    R = np.array([
        [1 - 2 * (qy**2 + qz**2), 2 * (qx * qy - qz * qw), 2 * (qx * qz + qy * qw)],
        [2 * (qx * qy + qz * qw), 1 - 2 * (qx**2 + qz**2), 2 * (qy * qz - qx * qw)],
        [2 * (qx * qz - qy * qw), 2 * (qy * qz + qx * qw), 1 - 2 * (qx**2 + qy**2)]
    ])
    return R