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src/s/b/sba-1.6.0/sba/cameras.py   sba(Download)
 
            # turn it into quaternions
            qlocal = quaternions.Quaternion(v0,v[0],v[1],v[2])
            qinitial = quaternions.Quaternion(initial[cam,0],initial[cam,1],
                                              initial[cam,2],initial[cam,3])