math - 通过相机校准估计方位角（α、β 和 γ）

Question

我试图通过相机校准来估计三个方向角。我正在使用 matlab 工具箱进行校准过程。

Matlab相机标定工具箱过程返回Rotation向量：

omc_ext = [ 2.181316 2.182162 -0.076635 ]

和旋转矩阵：

Rc_ext = [ 

-0.000242    0.999992    0.003935

0.997253     0.000533    -0.074075

-0.074076    0.003906    -0.997245 ]

如何根据上述信息估计三个方向角？

Answer 1

The three angles you are looking for are called Euler angles and they are not unique unless you have more information about the order in which the rotations are performed. Usually it's best to just work with the 3x3 rotation matrix unless you have some special need to know the angles.

Mathworld lists the trig equations necessary to calculate the Euler angles from the rotation matrix.

http://mathworld.wolfram.com/EulerAngles.html