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I'm using OpenCV calibrateCamera function to extract intrinsic end extrinsic parameters of my camera. I have a big problem with the extrinsic one (rotation and translation) because the rotation matrix, that should be a 3x3 matrix, it's only a 3x1. Does someone know why I have this output or how can I use it? Thanks in advance!

Sassa
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tiavec88
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    If you read the documentation again, you will understand why it is 3x1 matrix. Here is the [link](http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#calibratecamera) – satishffy Nov 26 '12 at 16:37

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You get a vector which is actually the axis-angle representation of your rotation. You can convert that in a 3x3 rotation matrix using the Rodrigues formula:

Rodrigues on Wikipedia

Rodrigues using OpenCV

Sassa
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  • How can the resulting rotation matrix be used to transform each calibration image into the world frame, and what should this result look like? – kevinkayaks Jul 30 '18 at 23:28