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rvec is an axis-angle rotation vector (see Rodrigues' rotation formula). To get a quaternion, you will have to do the conversion yourself.

For the first question, in this case as the rotation is only about one axis I think that it is fine to compare directly. Otherwise, in the general case, you will need to convert the rotation vector to the appropriate Euler angle convention to properly compare. rvec represents the rotation for the camera pose, maybe check that the IMU frame is correctly aligned with the camera frame?

rvec is an axis-angle rotation vector (see Rodrigues' rotation formula). To get a quaternion, you will have to do the conversion yourself.

For the first question, in this case as the rotation is only about one axis I think that it is fine to compare directly. Otherwise, in the general case, you will need to convert the rotation vector to the appropriate Euler angle convention to properly compare.

rvec represents the rotation for the camera pose, maybe check that the IMU frame is correctly aligned with the camera frame?