Finding the rotation matrix between two vectors in Python

问题

I am trying to write a code that gives me the rotation matrix between two vectors. I have tried the code given as an answer to this question. I first make it calculate the rotation matrix and then test it to see if it gives the correct answer. However, it doesn't seem to be giving the correct answer. Could anyone help with why I can't get the correct answer with this?

The Code is below:

import numpy as np 

def rotation_matrix_from_vectors(vec1, vec2):

    a, b = (vec1 / np.linalg.norm(vec1)).reshape(3), (vec2 / np.linalg.norm(vec2)).reshape(3)
    v = np.cross(a, b)
    c = np.dot(a, b)
    s = np.linalg.norm(v)
    kmat = np.array([[0, -v[2], v[1]], [v[2], 0, -v[0]], [-v[1], v[0], 0]])
    rotation_matrix = np.eye(3) + kmat + kmat.dot(kmat) * ((1 - c) / (s ** 2))
    return rotation_matrix

#from here it is the code I have written to test this function
vector1 = array([0,1,0])
vector2 = array([-1,0,1])

rot = rotation_matrix_from_vectors(vector1,vector2)
rotated = np.dot(rot,vector1)

print(rotated)

This prints vector [-0.707, 0, 0.707] instead of [-1, 0, 1].

来源：https://stackoverflow.com/questions/63525482/finding-the-rotation-matrix-between-two-vectors-in-python