【踩坑】相机位姿[R,T]转欧拉角输入ContextCapture进行三维重建

import numpy as np
from scipy.spatial.transform import Rotation
k=0
j=0

line_count = sum(1 for _ in open('merged.txt', 'r', encoding='utf-8'))
#输入格式是R，T，每三行一个位姿
R0=np.zeros((3,3))
T0=np.zeros(3)
R=np.zeros((3,3))
T=np.zeros(3)
RT_merged=np.zeros((line_count//3,6))#输出矩阵[数据个数，欧拉角（3）+平移（3）]
with open('merged.txt', 'r', encoding='utf-8') as file:
    for line in file:
        words = line.split()
        data=[float(num) for num in words]
        R0[k,:]=data[:3]
        T0[k]=data[3]
        k=k+1

        if k%3==0:
            k=0
            R=R0.transpose()
            robj_mat = Rotation.from_matrix(R)
            robj_euler=robj_mat.as_euler('xyz')
            RT_merged[j,:]=np.hstack((-robj_euler,T0))#CC中欧拉角需要反向
            j=j+1

with open('merge-trans2CC.txt', 'w', encoding='utf-8') as merged_file:
    for index,row in enumerate(RT_merged,start=0):
        merged_file.write(f'rgb_{index}.jpg '+' '.join(map(str, row)) + '\n')

print("data processing end!")

关键是旋转矩阵有个转置，最后欧拉角有个取反
我是怎么知道的，一点点试出来的
注意CC软件中选择单位为rad，角度定义为omega，phi，kappa