code: def ToR(self):
      return np.eye(3) + 2 * np.array(
          (
              (
                  -self.q[2] * self.q[2] - self.q[3] * self.q[3],
                  self.q[1] * self.q[2] - self.q[3] * self.q[0],
                  self.q[1] * self.q[3] + self.q[2] * self.q[0],
              ),
              (
                  self.q[1] * self.q[2] + self.q[3] * self.q[0],
                  -self.q[1] * self.q[1] - self.q[3] * self.q[3],
                  self.q[2] * self.q[3] - self.q[1] * self.q[0],
              ),
              (
                  self.q[1] * self.q[3] - self.q[2] * self.q[0],
                  self.q[2] * self.q[3] + self.q[1] * self.q[0],
                  -self.q[1] * self.q[1] - self.q[2] * self.q[2],
              ),
          )
      )
  
imports: import numpy
label_desc: Use image node_id 21 for calling the Quaternion obj's underlying member method code with example usage: obj.ToR() and returns: unknown