openalea.phenomenal.calibration.transformations.random_rotation_matrix

openalea.phenomenal.calibration.transformations.random_rotation_matrix(rand=None)[source]

Return uniform random rotation matrix.

rand: array like: Three independent random variables that are uniformly distributed between 0 and 1 for each returned quaternion.

>>> R = random_rotation_matrix()
>>> numpy.allclose(numpy.dot(R.T, R), numpy.identity(4))
True