c++ - solvePnP: Obtaining the rotation translation matrix -


i trying image coordinates 3d coordinates. using solvepnp function (in c++)has given me 3x1 rotation matrix , 3x1 translation matrix. isn't [r|t] matrix supposed 3x4?

any appreciated!

reading (excellent) opencv documentation solvepnp might help:

  • "rvec – output rotation vector (see rodrigues() ) that, tvec , brings points model coordinate system camera coordinate system."

and following link rodrigues():

  • src – input rotation vector (3x1 or 1x3) or rotation matrix (3x3).
  • dst – output rotation matrix (3x3) or rotation vector (3x1 or 1x3), respectively.

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