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Let's assume we get rvecs and tvecs via cv.estimatePoseSingleMarkers()

Then going through each marker, we can get the 1x3 vectors like:

const rotation = [rvecs.doublePtr(0, i)[0], rvecs.doublePtr(0, i)[1], rvecs.doublePtr(0, i)[2]];
const translation = [tvecs.doublePtr(0, i)[0], tvecs.doublePtr(0, i)[1], tvecs.doublePtr(0, i)[2]];

How can this be converted so it's compatible with gl-matrix's fromRotationTranslation?

Specifically - it seems gl-matrix expects the rotation in a quaternion... I see some sample C++ code to do that conversion here, but it assumes a Rodrigues function in OpenCV to get from the 1x3 vector to a 3x3 rotation matrix - I think?

The Rodrigues function seems to be missing in OpenCV.js...

Let's assume we get rvecs and tvecs via cv.estimatePoseSingleMarkers()

Then going through each marker, we can get the 1x3 vectors like:like this (found in online samples):

const rotation = [rvecs.doublePtr(0, i)[0], rvecs.doublePtr(0, i)[1], rvecs.doublePtr(0, i)[2]];
const translation = [tvecs.doublePtr(0, i)[0], tvecs.doublePtr(0, i)[1], tvecs.doublePtr(0, i)[2]];

How can this be converted so it's compatible with gl-matrix's fromRotationTranslation?

Specifically - it seems gl-matrix expects the rotation in a quaternion... I see some sample C++ code to do that conversion here, but it assumes a Rodrigues function in OpenCV to get from the 1x3 vector to a 3x3 rotation matrix - I think?

The Rodrigues function seems to be missing in OpenCV.js...OpenCV.js... and it's not clear to me what _exactly_ cv.estimatePoseSingleMarkers() is returning in each rvec (is it euler radians? something else?)

Let's assume we get rvecs and tvecs via cv.estimatePoseSingleMarkers()

Then going through each marker, we can get the 1x3 vectors like this (found in online samples):

const rotation = [rvecs.doublePtr(0, i)[0], rvecs.doublePtr(0, i)[1], rvecs.doublePtr(0, i)[2]];
const translation = [tvecs.doublePtr(0, i)[0], tvecs.doublePtr(0, i)[1], tvecs.doublePtr(0, i)[2]];

How can this be converted so it's compatible with gl-matrix's fromRotationTranslation?

Specifically - it seems gl-matrix expects the rotation in a quaternion... I see some sample C++ code to do that conversion here, but it assumes a Rodrigues function in OpenCV to get from the 1x3 vector to a 3x3 rotation matrix - I think?

The Rodrigues function seems to be missing in OpenCV.js... and it's not clear to me what _exactly_ exactly cv.estimatePoseSingleMarkers() is returning in each rvec (is it euler radians? something else?)

Let's assume we get rvecs and tvecs via cv.estimatePoseSingleMarkers()

Then going through each marker, we can get the 1x3 vectors like this (found in online samples):

const rotation = [rvecs.doublePtr(0, i)[0], rvecs.doublePtr(0, i)[1], rvecs.doublePtr(0, i)[2]];
const translation = [tvecs.doublePtr(0, i)[0], tvecs.doublePtr(0, i)[1], tvecs.doublePtr(0, i)[2]];

How can this be converted so it's compatible with gl-matrix's fromRotationTranslation?

Specifically - it seems gl-matrix expects the rotation in a quaternion... I see some sample C++ code to do that conversion here, but it assumes a Rodrigues function in OpenCV to get from the 1x3 vector to a 3x3 rotation matrix - I think?

The Rodrigues function seems to be missing in OpenCV.js... and it's not clear to me what exactly cv.estimatePoseSingleMarkers() is returning in each rvec (is it euler radians? something else?)