astrom_common.py 文件源码

def getApproxRotation(self):
        # do an SVD to express T as a rotation matrix.
        M = np.array([[self.T[0]+1., self.T[1]], [self.T[2], self.T[3]+1.]])
        U,S,V = np.linalg.svd(M)
        print 'approx rotation:'
        print 'M='
        print M
        print 'U='
        print U
        print 'V='
        print V
        print 'S='
        print S
        r1 = np.rad2deg(np.arctan2(U[0,1], U[0,0]))
        r2 = np.rad2deg(np.arctan2(V[0,1], V[0,0]))
        print 'r1', r1
        print 'r2', r2
        print 'rotation', r1-r2
        return r1-r2