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You see that paper? You see Equation (2) and (3)? You see the part KR(t2)R(t1)^-1*K^-1? Yeah, that's the equation. And it does rotation too.

Your gyroscope API should return a rotation matrix. You may need to use Eq (3) where the T matrix switches the rows (I think it's rows) to match the camera coordinate system. T would look something like this (I just picked a possible one) with several ones (and possible -1s). Assuming the axes of your gyroscopes are parallel to the camera. If not, it's a more complicated rotation.

[ 0  1  0]
[ 1  0  0]
[ 0  0 -1]