[英]How to rotate set of 3d points using angle axis to rotation matrix?
I am trying to rotate a set of 3d points and I am looking at this function from the kornia library . 我正在尝试旋转一组3d点,并且正在kornia库中查看此功能 。 If I try to rotate a point around the z-axis by pi/2, my input(axis angle representation) should be [0, 0, pi/2]. 如果我尝试将点绕z轴旋转pi / 2,则我的输入(轴角度表示)应为[0,0,pi / 2]。 When I use this as input into the function, it returns a 4x4 rotation matrix. 当我将此用作函数的输入时,它将返回4x4旋转矩阵。 However, I don't know how to apply this 4x4 matrix to my data because it is Nx3. 但是,我不知道如何将此4x4矩阵应用于我的数据,因为它是Nx3。 What do I do with the output matrix? 如何处理输出矩阵? Thanks! 谢谢!
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