Rotation Matrix from recoverPose is not symmetric

asked 2017-03-17 09:09:55 -0500

mirnyy gravatar image

updated 2017-03-17 09:14:55 -0500

Hello,

i am using the recoverPose() function in OpenCV but i don't get a symmetrical rotation matrix.
But shouldn't it return a symmetrical rotation matrix? My results are looking like:

R =  0.998585723955729,   0.02348487299776981,  0.04769709270061936;
    -0.02232705043463718, 0.9994464428542043,  -0.02466395517687959, 
    -0.04824991948907295, 0.02356413814160357,  0.9985572976364158;

t = -0.9982022017535427,  
     0.005659929033547541, 
     0.05966849769949602;

My both pictures are:

image description image description

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Comments

1

I am not aware about any symmetrical constraint for the rotation matrix but I may be wrong. From my knowledge, one property is that the rotation matrix should be orthogonal:

Eduardo gravatar imageEduardo ( 2017-03-17 10:53:48 -0500 )edit
1

Cross-post as there is already a good answer there...

Eduardo gravatar imageEduardo ( 2017-03-17 11:05:10 -0500 )edit