# Rotation Matrix [closed]

i use 'calibrateCamera' opencv function for calibrating camera which gives intrinsic and extrinsic parameters. In Extrinsic Parameter it provide 3x1 Rotation and 3x1 translation matrix for each pattern. So my question is how to convert this 3x1 rotation matrix into R matrix which is R11 R12 R13 R21 R22 R23 R31 R32 R33

or how can i get roll, yaw, pitch angle for camera after getting 3x1 matrix.

I also saw opencv function 'Rodrigues' which convert 3x1 into 3x3 but that 3x3 matrix is symmetric matrix which is not R matrix.

Please help.

I suppose you're using OpenCV 3.0.x, right? According to the documentation, the resulting vector is the Rodrigues, so you should be able to reconstruct the Rotation matrix with the Rodrigues function. I suggest you to try with a different camera and see if the 3x3 matrix is still symmetric. Regarding the Euler angles, the decomposeProjectionMatrix function optionally returns them giving a projection matrix as input. Otherwise, I can suggest you again to have a look at the following website/papers for defining your conventions and deriving the formulas to use to extract the angles: http://www.staff.city.ac.uk/~sbbh653/... , http://planning.cs.uiuc.edu/node101.html , https://en.wikipedia.org/wiki/Euler_a..., https://en.wikipedia.org/wiki/Rotatio....

thanks @ale_Xompi i read documentation and link you give.. according to documentation rotation and translation matrix are with respect to pattern and they are relative to pattern not world or camera coordinate. i am right. in first link it say we can find two Euler angle so which should we consider in that case. thank you