//c++实现

 cv::Mat eulerAnglesToRotationMatrix(cv::Vec3f& theta){// Calculate rotation about x axiscv::Mat R_x = (cv::Mat_<double>(3, 3) <<1, 0, 0,0, cos(theta[0]), -sin(theta[0]),0, sin(theta[0]), cos(theta[0]));// Calculate rotation about y axiscv::Mat R_y = (cv::Mat_<double>(3, 3) <<cos(theta[1]), 0, sin(theta[1]),0, 1, 0,-sin(theta[1]), 0, cos(theta[1]));// Calculate rotation about z axiscv::Mat R_z = (cv::Mat_<double>(3, 3) <<cos(theta[2]), -sin(theta[2]), 0,sin(theta[2]), cos(theta[2]), 0,0, 0, 1);// Combined rotation matrixcv::Mat R = R_z * R_y * R_x;return R;}

opencv函数：

 cv::Mat_<float> r = (cv::Mat_<float>(3, 1) << theta(2), theta(1), theta(0));cv::Mat   R;
Rodrigues(r, R);