欧拉角转旋转矩阵

 //c++实现

 cv::Mat eulerAnglesToRotationMatrix(cv::Vec3f& theta)
         {
         // Calculate rotation about x axis
         cv::Mat R_x = (cv::Mat_<double>(3, 3) <<
             1, 0, 0,
             0, cos(theta[0]), -sin(theta[0]),
             0, sin(theta[0]), cos(theta[0])
             );

         // Calculate rotation about y axis
         cv::Mat R_y = (cv::Mat_<double>(3, 3) <<
             cos(theta[1]), 0, sin(theta[1]),
             0, 1, 0,
             -sin(theta[1]), 0, cos(theta[1])
             );

         // Calculate rotation about z axis
         cv::Mat R_z = (cv::Mat_<double>(3, 3) <<
             cos(theta[2]), -sin(theta[2]), 0,
             sin(theta[2]), cos(theta[2]), 0,
             0, 0, 1);


         // Combined rotation matrix
         cv::Mat R = R_z * R_y * R_x;

         return R;
     }

opencv函数：

 cv::Mat_<float> r = (cv::Mat_<float>(3, 1) << theta(2), theta(1), theta(0));
 cv::Mat   R;
Rodrigues(r, R);