As I can see in the offical document，the param discoff of the function “cameracalibration” can only take concern about the tilt angle of the image sensor. If I want to calculate the roll/yaw angle of that，how to do?
you speak of extrinsic camera calibration, i.e. estimating its pose in the world.
intrinsic camera calibration does not do that. it only estimates the optical parameters, which are the camera matrix and distortion coefficients.
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First of all, thanks so much for your reply.
In my current situation, a image sensor is placed at a certain position and is fixed with screws. Its length and width are 43 cm. I want to know if it will have movements in the Roll and Yaw directions when it rotates around a point light source, but I only see the Tilt direction in the camera calibration function parameters.
In other words, I want to add a 3x3 matrix representing the rotation of the imaging sensor itself to the leftmost part of the projection matrix provided by OpenCV. How can I solve for this matrix? Could you please offer some suggestions? Does OpenCV have such a function?
Just like the projection matrix shown in the above figure.