[Numpy-discussion] Faster way to generate a rotation matrix?
Jonathan Taylor
jonathan.taylor@utoronto...
Tue Mar 3 17:52:50 CST 2009
Hi,
I am doing optimization on a vector of rotation angles tx,ty and tz
using scipy.optimize.fmin. Unfortunately the function that I am
optimizing needs the rotation matrix corresponding to this vector so
it is getting constructed once for each iteration with new values.
>From profiling I can Hi,
I am doing optimization on a vector of rotation angles tx,ty and tz
using scipy.optimize.fmin. Unfortunately the function that I am
optimizing needs the rotation matrix corresponding to this vector so
it is getting constructed once for each iteration with new values.
>From profiling I can see that the function I am using to construct
this rotation matrix is a bottleneck. I am currently using:
def rotation(theta):
tx,ty,tz = theta
Rx = np.array([[1,0,0], [0, cos(tx), -sin(tx)], [0, sin(tx), cos(tx)]])
Ry = np.array([[cos(ty), 0, -sin(ty)], [0, 1, 0], [sin(ty), 0, cos(ty)]])
Rz = np.array([[cos(tz), -sin(tz), 0], [sin(tz), cos(tz), 0], [0,0,1]])
return np.dot(Rx, np.dot(Ry, Rz))
Is there a faster way to do this? Perhaps I can do this faster with a
small cython module, but this might be overkill?
Thanks for any help,
Jonathan.see that the function I am using to construct
this rotation matrix is a bottleneck. I am currently using:
def rotation(theta):
tx,ty,tz = theta
Rx = np.array([[1,0,0], [0, cos(tx), -sin(tx)], [0, sin(tx), cos(tx)]])
Ry = np.array([[cos(ty), 0, -sin(ty)], [0, 1, 0], [sin(ty), 0, cos(ty)]])
Rz = np.array([[cos(tz), -sin(tz), 0], [sin(tz), cos(tz), 0], [0,0,1]])
return np.dot(Rx, np.dot(Ry, Rz))
Is there a faster way to do this? Perhaps I can do this faster with a
small cython module, but this might be overkill?
Thanks for any help,
Jonathan.
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