欧拉角(Euler Angle)
pitch:俯仰角,围绕X轴旋转;
yaw:偏航角,围绕Y轴旋转;
roll:翻滚角,围绕Z轴旋转。
第一步:用Opencv的solvePnP函数解出旋转向量
C++:
bool solvePnP(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int flags=SOLVEPNP_ITERATIVE )
Python:
cv2.solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, flags]]]]) → retval, rvec, tvec