deeuler.m

一个很好用的摄像机标定程序

function [ox, fy, kz] = deeuler( Ro )
%DEVELOPMENT PHASE
%
% [ox, fx, kz] = deeuler( Ro )
%
% Ro - rotation matrix 3x3
%
% ox, oy, kz - euler angles
%
% computes the euler angles from rotatin matrix
%

fy = asin( Ro(3,1) );
ox = atan2( -Ro(3,2)/cos(fy), Ro(3,3)/cos(fy) );
kz = atan2( -Ro(2,1)/cos(fy), Ro(1,1)/cos(fy) );