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Unit of pose vectors from solvePnP()

asked 2013-05-12 11:42:31 -0600

alfa_80 gravatar image

I would like to ask about the solvePnP() output of rotation and translation vectors. What is the unit of of them, are they radian & meter respectively?

Thanks in advance.

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answered 2013-05-13 06:37:30 -0600

RaulPL gravatar image

The rotation vector unit is radians and the translation vector unit depends on the unit of the 3D points you use, it could be meters, yards, inches, etc.

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By looking at the output, I received something like "Translation: -224.111 -494.222 781.111", each for case in X, Y and Z. But, why is it too high if I would interpret in meters for example. If it's in mm, it makes a little bit sense. Also, why do you actually mean by "depends on the unit of the 3D points you us", I just define some 3D points that is nothing to do with actual unit of measurement?

alfa_80 gravatar imagealfa_80 ( 2013-05-14 05:16:27 -0600 )edit

Can you paste your code and the data that you are using? because I don't understand your doubt or what is the problem.

RaulPL gravatar imageRaulPL ( 2013-05-15 02:21:49 -0600 )edit

But, I think the translation that outputted from solvePnP() is in pixel unit.

alfa_80 gravatar imagealfa_80 ( 2013-05-24 05:15:39 -0600 )edit

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Asked: 2013-05-12 11:42:31 -0600

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Last updated: May 13 '13