2

I have extrinsic parameters as like this:

    <Ra_roll>0.213877</Ra_roll>
    <Ra_pitch>0.003699</Ra_pitch>
    <Ra_yaw>0.000555</Ra_yaw>

I want to get a rotation matrix, but I don't know how to calculate a rotation matrix from these roll, pitch, and yaw values.

My final goal is map color in a 2D image to 3D points in world coordinate. So the questions are:

  1. How to get rotation matrix from the roll, pitch, and yaw values?
  2. How to get the scale factor between image pixels and 3D points?

Thanks.

최현철
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  • For your first question, have a look at [this answer](https://stackoverflow.com/a/21412445/4669135) for the second: you need the intrinsic calibration of the camera that was used to take the pictures, have a look at [this answer](https://stackoverflow.com/a/5621309/4669135). – Gabriel Devillers Aug 25 '18 at 08:37
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    Possible duplicate of [Creating a rotation matrix with pitch, yaw, roll using Eigen](https://stackoverflow.com/questions/21412169/creating-a-rotation-matrix-with-pitch-yaw-roll-using-eigen) – Gabriel Devillers Aug 25 '18 at 08:39

0 Answers0