在 Python 中使用欧拉角旋转 3D 对象

Question

See this picture. In this the cuboid has to rotate along the other axes that were marked in the picture but it stays in the same axis x,y,zThe image attached gives the code of the cuboid.

##defining to plot the cuboid
def plot_cuboid(center, size):
    """
   Create a data array for cuboid plotting.
   ============= ================================================
   Argument      Description
   ============= ================================================
   center        center of the cuboid, triple
   size          size of the cuboid, triple, (x_length,y_width,z_height)
   :type size: tuple, numpy.array, list
   :param size: size of the cuboid, triple, (x_length,y_width,z_height)
   :type center: tuple, numpy.array, list
   :param center: center of the cuboid, triple, (x,y,z)
   """

    # suppose axis direction: x: to left; y: to inside; z: to upper
    # get the (left, outside, bottom) point
    ox, oy, oz = center
    l, w, h = size

    ##defining the points
    x = np.linspace(ox-l/2,ox+l/2,num=10)
    y = np.linspace(oy-w/2,oy+w/2,num=10)
    z = np.linspace(oz-h/2,oz+h/2,num=10)

    ## defining surfaces and extrude them
    x1, z1 = np.meshgrid(x, z)
    y11 = np.ones_like(x1)*(oy-w/2)
    y12 = np.ones_like(x1)*(oy+w/2)
    x2, y2 = np.meshgrid(x, y)
    z21 = np.ones_like(x2)*(oz-h/2)
    z22 = np.ones_like(x2)*(oz+h/2)
    y3, z3 = np.meshgrid(y, z)
    x31 = np.ones_like(y3)*(ox-l/2)
    x32 = np.ones_like(y3)*(ox+l/2)

    ax = fig.gca(projection='3d') ##plot the project cuboid

    #plot outside surface
    ax.plot_surface(x1, y11, z1, color='red', rstride=1, cstride=1, alpha=0.6)
    #plot inside surface
    ax.plot_surface(x1, y12, z1, color='white', rstride=1, cstride=1, alpha=0.6)
    #plot bottom surface
    ax.plot_surface(x2, y2, z21, color='blue', rstride=1, cstride=1, alpha=0.6)
    #plot upper surface
    ax.plot_surface(x2, y2, z22, color='black', rstride=1, cstride=1, alpha=0.6)
    #plot left surface
    ax.plot_surface(x31, y3, z3, color='green', rstride=1, cstride=1, alpha=0.6)
    #plot right surface
    ax.plot_surface(x32, y3, z3, color='pink', rstride=1, cstride=1, alpha=0.6)

    ## Add title 
    plt.title('Plot_for_PSM', fontsize=20)

    ##labelling the axes
    ax.set_xlabel('X')
    ax.set_ylabel('Y')
    ax.set_zlabel('Z')

`

我的问题是，我们可以用python中的欧拉角旋转下面定义的长方体吗？

中心 =(2.1,-0.1,0.757761) 长度=0.3，宽度=0.4，高度=0.1，均以米为单位。 根据附图中的代码。 例如沿 x,y,z 方向的欧拉角为 0,0,120。

我做了一些程序来用欧拉角旋转一个长方体。但是在达到欧拉角之后，如何旋转长方体是我的问题。任何人都可以建议或获得此问题的代码吗？

实际上，我有四元数，它们被转换成欧拉角，然后想根据这些欧拉角沿着它们的轴用右手定则旋转。你可以查看我的代码直到我做的地方，也可以建议我做错了什么。

代码中'y'代表与x轴的夹角，'p'代表与y轴的夹角，'r'代表与z轴的夹角。预期的结果是长方体必须沿着这些欧拉角（y,p,r）相对于 x,y,z 轴旋转。

提前致谢！

Answer 1

首先计算角的位置向量（xyz 坐标），然后在每个角上使用scipy.spatial.transform.Rotation。