Hello,

I'm trying to get the rotation matrix of the oak-d pro but I can't find a script to retreive that do I need to do camera calibration to get it ?

Thank you in advance

Hi @ferrari19
The rotation vector out of IMU should output a quaternion, which you can simply convert to a rotation matrix.

Thanks,
Jaka

thank you! so the rotation vector is not the gyroscope ? cause I get really bad rectfied images with the quaternion but better results with the gyroscope

Hi @ferrari19

ROTATION_VECTOR : Section 2.2

The rotation vector provides an orientation output that is expressed as a quaternion referenced to magnetic north and gravity. It is produced by fusing the outputs of the accelerometer, gyroscope and magnetometer. The rotation vector is the most accurate orientation estimate available. The magnetometer provides correction in yaw to reduce drift and the gyroscope enables the most responsive performance.

SOURCE.

Thanks,
Jaka