I'm interested in comparing the quaternions of an object presented in the real-world (with ArUco marker on top of it) and its simulated version in Unity3D.
To do this, I generated different scenes in Unity with the object in different locations. I stored its position and orientation relative to the camera in a csv file. where quaternions is looking something like this (for one example):
[-0.492555320262909 -0.00628990028053522 0.00224017538130283 0.870255589485168]
In ArUco, after using estimatePoseSingleMarkers I got a compact version of Angle-Axis, and I converted it to Quaternion using the following function:
def find_quat(rvecs):
a = np.array(rvecs[0][0])
theta = math.sqrt(a[0]**2 + a[1]**2 + a[2]**2)
b = a/theta
qx = b[0] * math.sin(theta/2)
qy = -b[1] * math.sin(theta/2) # left-handed vs right handed
qz = b[2] * math.sin(theta/2)
qw = math.cos(theta/2)
print(qx, qy, qz, qw)
where rvecs is the return value of ArUco
However, after doing this I'm still getting way different results, example of the same scene:
[0.9464098048208864 -0.02661258975275046 -0.009733748408866453 0.321722715311581] << aruco result
[-0.492555320262909 -0.00628990028053522 0.00224017538130283 0.870255589485168] << Unity's result
Am I missing something?
EDIT P.S. I don't understand why would someone downvote a question: 1. if it's super stupid you can just answer it while downvoting 2. if it's missing something you can tell me 3. others: you can still tell me... we're here to help each other
