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aruco markers rvec to quaternion and +-180 degrees flip

I am new to the OpenCV, C++, and general to coding. I somehow managed to get Euler's angles from rvec (with some major help). But I have a 180 degree flip in x (sometimes also z) axis. Also is it possible to get quaternion rotation from rvec or rotation matrix?

would appreciate a detailed answer as I am very new to this.