from pyquaternion import Quaternion
import numpy


# rotation = numpy.array([[1,0.0,0,1],[0,1,0,1],[0,0,1,1], [0,0,0,1]], dtype='float')

rotation = numpy.array([[0,1,0],[-1,0,0],[0,0,1]], dtype='float')

q8d = Quaternion(matrix=rotation)

print q8d
print q8d[0], q8d[1], q8d[2] ,q8d[3]