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How to adjust rotation matrix by a known angle

Hi,

I have calibrated a camera and the pitch angle considered was 0. I have the rotation mat & translation vector from using solvePnp and Rodrigues. Now, if I tilt the camera, the pitch angle changes.. how can I adjust the 3x3 rotation matrix to take into account the new pitch angle? Or the rotation vector..

How to adjust rotation matrix by a known angle

Hi,

I have calibrated a camera and the pitch angle considered was 0. I have the rotation mat & translation vector from using solvePnp and Rodrigues. Now, if I tilt the camera, the pitch angle changes.. how can I adjust the 3x3 rotation matrix to take into account the new pitch angle? Or the rotation vector.. The pitch angle is expressed in degrees or radians.

How to adjust rotation matrix by a known angle

Hi,

I have calibrated a camera and the pitch angle considered was 0. I have the rotation mat & translation vector from using solvePnp and Rodrigues. Now, if I tilt the camera, the pitch angle changes.. how can I adjust the 3x3 rotation matrix to take into account the new pitch angle? Or the rotation vector.. The pitch angle is expressed in degrees or radians.

Basically I build up an ipm image using projectPoints function that takes the previously obtained matrixes: camera mat, rotation and translation vectors from the calibration. I simply want to modify the rotation mat to take into account the new pitch angle of the camera (mobile phone). I have rotated the points 'manually' before applying the projectPoints but the computation takes too much time and my current fps drops from 5-6 fps to about 1-2 fps.

Any ideas? Thanks!

How to adjust rotation matrix by a known angle

Hi,

I have calibrated a camera and the pitch angle considered was 0. I have the rotation mat & translation vector from using solvePnp and Rodrigues. Now, if I tilt the camera, the pitch angle changes.. how can I adjust the 3x3 rotation matrix to take into account the new pitch angle? Or the rotation vector.. The pitch angle is expressed in degrees or radians.

Basically I build up an ipm image using projectPoints function that takes the previously obtained matrixes: camera mat, rotation and translation vectors from the calibration. I simply want to modify the rotation mat to take into account the new pitch angle of the camera (mobile phone). I have rotated the points 'manually' before applying the projectPoints but the computation takes too much time and my current fps drops from 5-6 fps to about 1-2 fps.time.

Any ideas? Thanks!