Question

我在世界坐标中有一个3D点，（-140，-500,0），其中z是向上矢量，x是深度，y是水平现在我想将此点转换为相机坐标我知道我需要计算旋转矩阵和平移我有俯仰和偏航以及相机位置
我想知道我是否正确计算了相机坐标中的点

    //ax, ay and az are the position of the point in the real world 
    //cx, cy and cz are the position of the camera 
    //67.362312316894531 is pitch 
    //89.7135009765625 is roll 
    //0.033716827630996704 is yaw 
    double x = ax - cx; 
    double y = ay -cy;
    double z = az - cz;
    double cosx = cos(67.362312316894531);
    double sinx = sin(67.362312316894531);
    double cosy = cos(89.7135009765625);
    double siny = sin(89.7135009765625);
    double cosz = cos(0.033716827630996704);
    double sinz = sin(0.033716827630996704);
    dx = cosy * (sinz * y + cosz * x) - siny * z;
    dy = sinx * (cosy * z + siny * (sinz * y + cosz * x)) + cosx * (cosz * y - sinz * x);
    dz = cosx * (cosy * z + siny * (sinz * y + cosz * x)) - sinx * (cosz * y - sinz * x);

我知道另一种方法是计算旋转矩阵

    //where yp is pitch, thet is roll and k is yaw 
    double rotxm[9] = { 1,0,0,0,cos(yp),-sin(yp),0,sin(yp),cos(yp) };
    double rotym[9] = { cos(thet),0,sin(thet),0,1,0,-sin(thet),0,cos(thet) };
    double rotzm[9] = { cos(k),-sin(k),0,sin(k),cos(k),0,0,0,1};
    cv::Mat rotx = Mat{ 3,3,CV_64F,rotxm };
    cv::Mat roty = Mat{ 3,3,CV_64F,rotym };
    cv::Mat rotz = Mat{ 3,3,CV_64F,rotzm };
    cv::Mat rotationm = rotz * roty * rotx;

我的问题是这两种方法正确吗？或至少是其中的一个。.我如何确定

从世界坐标到摄像机坐标

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