nibabel.quaternions.rotate_vector
nibabel.quaternions.angle_axis2quat
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Rotation matrix of angle theta around vector
theta : scalar
angle of rotation
vector : 3 element sequence
vector specifying axis for rotation.
is_normalized : bool, optional
True if vector is already normalized (has norm of 1). Default False
mat : array shape (3,3)
rotation matrix specified rotation
Notes
From: http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle