旋转矩阵:[[0.99998, 0.00045, 0.00559], [-0.00045, 1., 0.00059], [-0.00559, -0.0006, 0.99998]]
旋转向量: [-0.000595 ,0.00559005,-0.00045001]
旋转向量转旋转矩阵
om = np.array([-0.000595, 0.00559005, -0.00045001]) #旋转向量
R = cv2.Rodrigues(om)[0] # 使用Rodrigues变换将om变换为R
旋转矩阵转旋转向量
R = np.array([[0.99998, 0.00045, 0.00559],
[-0.00045, 1., 0.00059],
[-0.00559, -0.0006, 0.99998]])
b = cv2.Rodrigues(R)
print ('b[0]',b[0])