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Aruco Ros prints tag id followed by keypoints, Txyz (Traslation) and Rxyz (Rotation). Rxyz has 3 angle in rad. Which angle does it represents? Is it euler angle? If yes then, out of 6 intrinsic and 6 extrinsic convention which one does it follow? Is it Rodrigues angles or something else altogether? I have a particular case for which I know the axis for tag and camera. Can I figure out their convention of Rxyz?

dreamer_iiit
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It seems that aruco library uses OpenCV as backend. And if we look in the sources, we will see that it uses cv::Rodrigues(Rvec, Rot); internally, for example, in the code for Ogre integration. So, I suppose that in Aruco Ros Rxyz is in the same format.

For insight you can see aruco source. Maybe you'll need inverse operation, but still it is good starting point.

Melnikov Sergei
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  • Thank you for the reply. I had looked into that before. Code is also doing one rotation after Rodrigues. Rodrigues angles themselves are hard to visualize. – dreamer_iiit Aug 10 '17 at 17:10