OpenCV Q&A Forum - RSS feedhttp://answers.opencv.org/questions/OpenCV answersenCopyright <a href="http://www.opencv.org">OpenCV foundation</a>, 2012-2018.Mon, 26 Nov 2018 09:38:03 -0600creating a rotation matrix in OpenCVhttp://answers.opencv.org/question/204092/creating-a-rotation-matrix-in-opencv/ I am trying to recreate a rotation matrix in OpenCV using one of the direction vectors along the z-axes but have not been having any success with it. I am also not sure if this can be done in a unique fashion but I was hoping to get some help from the forum.
So, initially, I try and create the rotation matrix that I want to recover. I do this as following:
import cv2
import numpy
def generate_fake_opencv_calibrations(num_calibs=10):
calibs = list()
cm = np.asarray([[300.0, 0.0, 400], [0, 300.0, 700.0], [0., 0., 1.]])
for i in range(num_calibs):
image_c = np.random.rand(6, 2) * 100.0
world_c = np.random.rand(6, 3)
_, r, t = cv2.solvePnP(world_c, image_c, cm, None, flags=cv2.SOLVEPNP_ITERATIVE)
# Create the rotation matrix
r, _ = cv2.Rodrigues(r)
calibs.append(r)
return calibs
So, the rotation matrix has all the properties that the rows and columns are orthonormal wrt to each other. So, what I was hoping to do is recreate this rotation matrix when I have the direction vector for the z-axes.
So, I have:
z = c[:, 2]
Now I wrote a function to create the other two axes as:
def create_orthonormal_basis(v):
v = v / np.linalg.norm(v)
if v[0] > 0.9:
b1 = np.asarray([0.0, 1.0, 0.0])
else:
b1 = np.asarray([1.0, 0.0, 0.0])
b1 -= v * np.dot(b1, v)
b1 *= np.reciprocal(np.linalg.norm(b1))
b2 = np.cross(v, b1)
return b1, b2, v
I can then create the matrix as:
x, y, z = create_orthonormal_basis(z)
mat = np.asarray([[x[0], y[0], z[0]],
[x[1], y[1], z[1]],
[x[2], y[2], z[2]]])
I was expecting this matrix to map a given point to approximately the same location, however this was not the case. So for a random case, I am getting the following:
For the input matrix, given by:
[-0.5917787 -0.69902414 0.40145141]
[ 0.76717701 -0.64127655 0.01427625]
[ 0.24746193 0.31643267 0.91576905]]
The output is:
[ 0.91588032 0. 0.40145141]
[-0.00625761 0.99987851 0.01427625]
[-0.40140263 -0.01558747 0.91576905]]
I take a random input like:
[0.33385406 0.91243684 0.33755828]
and map it using the original and reconstructed matrices and the output is quite different:
Original: [-0.69986985 -0.32418012 0.68046643]
Reconstructed: [0.44128362 0.91505592 0.16089295]
pamparanaMon, 26 Nov 2018 09:38:03 -0600http://answers.opencv.org/question/204092/