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# -*- coding: utf-8 -*-
# @Author : xuelun
import numpy as np
def convert(xyzw):
x, y, z, w = xyzw
R = np.array([
[
1 - 2 * y * y - 2 * z * z,
2 * x * y - 2 * z * w,
2 * x * z + 2 * y * w
],
[
2 * x * y + 2 * z * w,
1 - 2 * x * x - 2 * z * z,
2 * y * z - 2 * x * w
],
[
2 * x * z - 2 * y * w,
2 * y * z + 2 * x * w,
1 - 2 * x * x - 2 * y * y
]
])
return R
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