python 和c++实现旋转矩阵到欧拉角的变换

在摄影测量学科中，国际摄影测量遵循OPK系统，即是xyz转角系统，而工业中往往使用zyx转角系统。
旋转矩阵的意义：描述相对地面的旋转情况，yaw-pitch-roll对应zyx对应k,p,w

#include <iostream>
#include<stdlib.h>
#include<eigen3/Eigen/Core>
#include<eigen3/Eigen/Dense>
#include<stdlib.h>
using namespace std;
Eigen::Matrix3d rotationVectorToMatrix(Eigen::Vector3d theta)
{
    Eigen::Matrix3d R_x=Eigen::AngleAxisd(theta(0),Eigen::Vector3d(1,0,0)).toRotationMatrix();
    Eigen::Matrix3d R_y=Eigen::AngleAxisd(theta(1),Eigen::Vector3d(0,1,0)).toRotationMatrix();
    Eigen::Matrix3d R_z=Eigen::AngleAxisd(theta(2),Eigen::Vector3d(0,0,1)).toRotationMatrix();
    return R_z*R_y*R_x;

}
bool isRotationMatirx(Eigen::Matrix3d R)
{
    int err=1e-6;//判断R是否奇异
    Eigen::Matrix3d shouldIdenity;
    shouldIdenity=R*R.transpose();
    Eigen::Matrix3d I=Eigen::Matrix3d::Identity();
    return (shouldIdenity-I).norm()<err?true:false;
}

int main(int argc, char *argv[])
{
    Eigen::Matrix3d R;
    Eigen::Vector3d theta(rand() % 360 - 180.0, rand() % 360 - 180.0, rand() % 360 - 180.0);
    theta=theta*M_PI/180;
    cout<<"旋转向量是：\n"<<theta.transpose()<<endl;
    R=rotationVectorToMatrix(theta);
    cout<<"旋转矩阵是：\n"<<R<<endl;
    if(! isRotationMatirx(R)){
      cout<<"旋转矩阵--->欧拉角\n"<<R.eulerAngles(2,1,0).transpose()<<endl;//z-y-x顺序，与theta顺序是x,y,z
    }
    else{
        assert(isRotationMatirx(R));
    }

    return 0;
}

#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import cv2
import numpy as np
import math
import random

def isRotationMatrix(R) :
    Rt = np.transpose(R)
    shouldBeIdentity = np.dot(Rt, R)
    I = np.identity(3, dtype = R.dtype)
    n = np.linalg.norm(I - shouldBeIdentity)
    return n < 1e-6

def rotationMatrixToEulerAngles(R) :

    assert(isRotationMatrix(R))
    
    sy = math.sqrt(R[0,0] * R[0,0] +  R[1,0] * R[1,0])
    
    singular = sy < 1e-6

    if  not singular :
        x = math.atan2(R[2,1] , R[2,2])
        y = math.atan2(-R[2,0], sy)
        z = math.atan2(R[1,0], R[0,0])
    else :
        x = math.atan2(-R[1,2], R[1,1])
        y = math.atan2(-R[2,0], sy)
        z = 0

    return np.array([x, y, z])

def eulerAnglesToRotationMatrix(theta) :
    
    R_x = np.array([[1,         0,                  0                   ],
                    [0,         math.cos(theta[0]), -math.sin(theta[0]) ],
                    [0,         math.sin(theta[0]), math.cos(theta[0])  ]
                    ])
        
        
                    
    R_y = np.array([[math.cos(theta[1]),    0,      math.sin(theta[1])  ],
                    [0,                     1,      0                   ],
                    [-math.sin(theta[1]),   0,      math.cos(theta[1])  ]
                    ])
                
    R_z = np.array([[math.cos(theta[2]),    -math.sin(theta[2]),    0],
                    [math.sin(theta[2]),    math.cos(theta[2]),     0],
                    [0,                     0,                      1]
                    ])
                    
                    
    R = np.dot(R_z, np.dot( R_y, R_x ))

    return R


if __name__ == '__main__' :

    e = np.random.rand(3) * math.pi * 2 - math.pi
    
    R = eulerAnglesToRotationMatrix(e)
    e1 = rotationMatrixToEulerAngles(R)

    R1 = eulerAnglesToRotationMatrix(e1)
    print ("\nInput Euler angles :\n{0}".format(e))
    print ("\nR :\n{0}".format(R))
    print ("\nOutput Euler angles :\n{0}".format(e1))
    print ("\nR1 :\n{0}".format(R1))