OpenCV Q&A Forum - RSS feedhttp://answers.opencv.org/questions/OpenCV answersenCopyright <a href="http://www.opencv.org">OpenCV foundation</a>, 2012-2018.Wed, 22 Jul 2015 22:11:34 -0500Units of Rotation and translation from Essential Matrixhttp://answers.opencv.org/question/66839/units-of-rotation-and-translation-from-essential-matrix/ I obtained my Rotation and translation matrices using the SVD of E. I used the following code to do so :
SVD svd(E);
Matx33d W(0, -1, 0, 1, 0, 0, 0, 0, 1);
Mat_<double> R = svd.u * Mat(W) * svd.vt;
Mat_<double> t = svd.u.col(2);
Matx34d P1(R(0, 0), R(0, 1), R(0, 2), t(0), R(1, 0), R(1, 1), R(1, 2), t(1), R(2, 0), R(2, 1), R(2, 2), t(2));
I want to know what are the units of R and t ? When I calibrated the cameras I got the baseline distance in **cm** , So is the translation vector units also in **cm** ? Also what are the units of R?
P.S : I have read the following question on [Stackoverflow](https://stackoverflow.com/questions/16856177/what-will-be-the-translation-vector-unit-from-essential-matrix/16870447#16870447) , but it had actually confused me as no answer was accepted. Also I wanted to know if the translation vector I got is it in the world frame?(Is it the real world distance moved from the initial position)
EDIT 1:
I have also observed that the values are normalized for the translation vector i.e x^2+y^2+z^2 is nearly 1. So how do I get the actual vector?
EDIT 2: I have read the following question in [Stackoverflow](https://stackoverflow.com/questions/3678317/t-and-r-estimation-from-essential-matrix?rq=1) and I think I will be implementing it. Don't know if there is any better way.Sai KondaveetiWed, 22 Jul 2015 22:11:34 -0500http://answers.opencv.org/question/66839/