camera-calibration-pvr.py 文件源码

def get_rot_angles(ex, ey, ez):
    """Get the x- and y-rotation from the ez unit vector"""
    rx = atan2(ez[1], ez[2])
    rx_matrix = mathutils.Euler((rx, 0.0, 0.0), "XYZ")
    # Rotate the ez vector by the previously found angle
    ez.rotate(rx_matrix)
    # Negative value because of right handed rotation
    ry = - atan2(ez[0], ez[2])
    # Rotate the ex vector by the previously found angles
    rxy_matrix = mathutils.Euler((rx, ry, 0.0), "XYZ")
    ex.rotate(rxy_matrix)
    # Negative value because of right handed rotation
    rz = - atan2(ex[1], ex[0])
    return [rx, ry, rz]