Is rotation vector from solvePnP() already roll, pitch and yaw?

solvePnP

asked 2013-09-06 15:32:01 -0600

alfa_80
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The output of solvePnP() is a rotation vector and a translation vector.

My question: Is this rotation vector representing roll, pitch, yaw in (whatever X-Y-Z order or similar) fixed angle convention? I guess it is, but I want to have a confirmation on this.

Thanks in advance.

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answered 2013-09-22 05:16:25 -0600

tcarreira
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As you can check here it is Rodrigues angles. If you want rpy, you have to convert it.

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answered 2015-01-13 08:04:31 -0600

Haris

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No, the out put of solvePnP() is not directly roll, yaw & pitch, but need to calculate using OpenCV inbuilt decomposeProjectionMatrix.

The detailed answer can be found here

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Asked: 2013-09-06 15:32:01 -0600

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Last updated: Jan 13 '15

Is rotation vector from solvePnP() already roll, pitch and yaw? edit

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Is rotation vector from solvePnP() already roll, pitch and yaw?