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
#include
#include
#include
#include
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()
}
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<
R=rotationVectorToMatrix(theta);
cout<
if(! isRotationMatirx(R)){
cout<欧拉角\n"<
}
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))