import cv2 import numpy as np chessboard_size = (9,6) # 棋盘格行列数 objp = np.zeros((np.prod(chessboard_size), 3), np.float32) # 内部点的坐标 objp[:, :2] = np.mgrid[0:chessboard_size[0], 0:chessboard_size[1]].T.reshape(-1, 2) img = cv2.imread('C:/yingxiang/biaoding.png') gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) ret, corners = cv2.findChessboardCorners(gray, chessboard_size, None) if ret == True: cv2.drawChessboardCorners(img, chessboard_size, corners, ret) ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera([objp], [corners], gray.shape[::-1], None, None) # 打印相机内部参数和畸变系数 print("相机内部参数：") np.set_printoptions(precision=4, suppress=True) print(mtx) print("畸变系数：") np.set_printoptions(precision=4, suppress=True) print(dist) # 打印外部参数 print("旋转向量：") np.set_printoptions(precision=4, suppress=True) print(rvecs) print("平移向量：") np.set_printoptions(precision=4, suppress=True) print(tvecs)这段代码如何将旋转向量和平移向量改为旋转矩阵和平移矩阵

在 OpenCV 中，可以使用 `cv2.Rodrigues()` 函数将旋转向量转换为旋转矩阵，使用 `np.array()` 函数将平移向量转换为平移矩阵。修改代码如下：

import cv2 
import numpy as np 

chessboard_size = (9,6) # 棋盘格行列数 
objp = np.zeros((np.prod(chessboard_size), 3), np.float32) # 内部点的坐标 
objp[:, :2] = np.mgrid[0:chessboard_size[0], 0:chessboard_size[1]].T.reshape(-1, 2) 

img = cv2.imread('C:/yingxiang/biaoding.png') 
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) 

ret, corners = cv2.findChessboardCorners(gray, chessboard_size, None) 
if ret == True: 
    cv2.drawChessboardCorners(img, chessboard_size, corners, ret) 

    ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera([objp], [corners], gray.shape[::-1], None, None) 

    # 打印相机内部参数和畸变系数 
    print("相机内部参数：") 
    np.set_printoptions(precision=4, suppress=True) 
    print(mtx) 
    print("畸变系数：") 
    np.set_printoptions(precision=4, suppress=True) 
    print(dist) 

    # 将旋转向量转换为旋转矩阵 
    R, _ = cv2.Rodrigues(rvecs[0]) 

    # 打印旋转矩阵和平移矩阵 
    print("旋转矩阵：") 
    np.set_printoptions(precision=4, suppress=True) 
    print(R) 
    print("平移矩阵：") 
    np.set_printoptions(precision=4, suppress=True) 
    print(np.array(tvecs[0]).reshape(3,1))

这样，就将旋转向量和平移向量转换为了旋转矩阵和平移矩阵。