手眼标定必备——旋转向量转换为旋转矩阵python——罗德里格斯公式Rodrigues

在使用matlab工具箱对相机标定后，得到的旋转向量转换为旋转矩阵

参考旋转向量和旋转矩阵的互相转换（python cv2.Rodrigues()函数）_旋转向量转旋转矩阵_FC_code的博客-CSDN博客

import os
import cv2
import numpy as np
T = np.zeros((1,3), np.float32)
a = (0.2,0.4,0.8)
#print (a)
R = cv2.Rodrigues(a)
# print (R[0])
v3 = (R[0][2,1],R[0][0,2],R[0][1,0])
# print (v3)
c = cv2.Rodrigues(v3)
# print (c[0])
b = cv2.Rodrigues(R[0])
# print (b[0])
p = (0.098,-0.1307,0.1056) 
print(p)
print(cv2.Rodrigues(p)[0])

p为输入的旋转向量cameraParams.RotationVectors

得到旋转矩阵cameraParams.RotationMatrices

结果为

[[ 0.98592753 -0.11131944 -0.12471922]
 [ 0.09855118  0.989655   -0.10426238]
 [ 0.13503543  0.09050392  0.98669878]]

转置之后，刚好与matlab工具箱中旋转矩阵一致