外参矩阵转四元数,左右手坐标系转化1

1， 外参矩阵转四元数

double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
				distCoeffs, rvecs, tvecs, flags | CV_CALIB_FIX_K4 | CV_CALIB_FIX_K5);

			Rodrigues(rvecs[0], r);
			cout << rvecs[0] << endl;
			CcalinitEctrinsicMat(m_fExtrinsic, r, tvecs[0]);
//cv::solvePnP(object_points, corners, cameraMatrix, distCoeffs, rvecs, tvecs);
注意rvecs, tvecs是Mat还是vector<Mat>
double rms = calibrateCamera(obje