Similar to these two previous questions (How to calculate all 24 rotations of 3d array?, How to get all 24 rotations of a 3-dimensional array?), I want to find the all the 90 degree rotations of an object. However, I need the quaternions of those rotations.
import numpy as np
import itertools
from pyquaternion import Quaternion
def rotations():
for x, y, z in itertools.permutations([0, 1, 2]):
for sx, sy, sz in itertools.product([-1, 1], repeat=3):
rotation_matrix = np.zeros((3, 3))
rotation_matrix[0, x] = sx
rotation_matrix[1, y] = sy
rotation_matrix[2, z] = sz
if np.linalg.det(rotation_matrix) == 1:
quat = Quaternion(matrix=rotation_matrix)
yield quat.elements
all_rotations = list(rotations())
print(len(all_rotations))
for x in all_rotations:
print(x)
Based on this answer by Igor Kołakowski of a similar question.