coordutils.py 文件源码

def rotatePointsFromNormals(XYZ, n0, n1, x0=np.r_[0., 0., 0.]):
    """
        rotates a grid so that the vector n0 is aligned with the vector n1

        :param numpy.array n0: vector of length 3, should have norm 1
        :param numpy.array n1: vector of length 3, should have norm 1
        :param numpy.array x0: vector of length 3, point about which we perform the rotation
        :rtype: numpy.array, 3x3
        :return: rotation matrix which rotates the frame so that n0 is aligned with n1
    """

    R = rotationMatrixFromNormals(n0, n1)

    assert XYZ.shape[1] == 3, "Grid XYZ should be 3 wide"
    assert len(x0) == 3, "x0 should have length 3"

    X0 = np.ones([XYZ.shape[0], 1])*mkvc(x0)

    return (XYZ - X0).dot(R.T) + X0 # equivalent to (R*(XYZ - X0)).T + X0