使用cv2.Rodrigues函数即可实现

import cv2  
import numpy as np  
  
# 相机标定  
ret, rvec, tvec, idx, std_dev = cv2.calibrateCamera(...)  
  
# 将rvec转换为旋转矩阵  
R = cv2.Rodrigues(rvec)  
  
# 将旋转矩阵转换为欧拉角  
roll, pitch, yaw = cv2.decomposeHomographyMat(R)