opencv 4.3 旋转矩阵与旋转向量转化

std::vector<double> r_vec = { -2.100418,-2.167796,0.273330 };
    cv::Mat R_matrix(3, 3, CV_8UC1); 
    cv::Rodrigues(r_vec, R_matrix);

cout<< R_matrix;

 

 

 cv::Mat temp_matrix(3, 3, CV_64FC1);
    for (int i = 0; i < 3; i++) {
        for (int j = 0; j < 3; j++) {
            temp_matrix.at<double>(i, j) = matrixT(i, j);
        }
    }
    std::cout << temp_matrix;
    std::vector<double> RotationVector;
    cv::Rodrigues(temp_matrix, RotationVector);

//输出结果：
rotation_vector.axis()[0];
rotation_vector.axis()[1];
rotation_vector.axis()[2];

    std::vector<double> RotationVector = { toolPose[0],toolPose[1],toolPose[2] };
    cv::Mat temp_matrix(3, 3, CV_64FC1);
    cv::Rodrigues(RotationVector, temp_matrix);