PerspectiveCorrection.py 文件源码

def objectOrientation(self):
        tvec, r = self.pose()
        eulerAngles = mat2euler(cv2.Rodrigues(r)[0], axes='rzxy')

        tilt = eulerAngles[1]
        rot = eulerAngles[0]
        dist = tvec[2, 0]  # only take depth component np.linalg.norm(tvec)
        return dist, tilt, rot