转至元数据起始 import numpy as npimport math
r = np.pi/2
p = 0
y = 0sinp = math.sin(math.radians(p/2))
siny = math.sin(math.radians(y/2))
sinr = math.sin(math.radians(r/2))cosp = math.cos(math.radians(p/2))
cosy = math.cos(math.radians(y/2))
cosr = math.cos(math.radians(r/2))w = cosr*cosp*cosy + sinr*sinp*siny
x = sinr*cosp*cosy - cosr*sinp*siny
y = cosr*sinp*cosy + sinr*cosp*siny
z = cosr*cosp*siny - sinr*sinp*cosyprint(w,x,y,z) ##欧拉2四元数r = math.atan2(2*(w*x+y*z),1-2*(x*x+y*y))
p = math.asin(2*(w*y-z*x))
y = math.atan2(2*(w*z+x*y),1-2*(z*z+y*y))angleR = r*180/math.pi
angleP = p*180/math.pi
angleY = y*180/math.piprint(angleR,angleP,angleY) ##四元数2欧拉