Unit of rvecs, stdDeviationsExtrinsics

Python
1

Hi all,
I’am using the method calibrateCamera() to calculate the pose of some camera positions while calibrating it at the same time. Everything works as expected, but for interpretation purposes I’m wondering in which unit the rvecs and the standard deviations are given:

I am entering my object coordinates in mm and get the following standard deviations for the extrinsic parameters:

4.37535132e-03  5.60375147e-03  1.43808849e-03  5.46775238e-01  1.37696084e+00  2.49662701e+00 ;
4.17371714e-03  7.75073536e-03  2.13087320e-03  7.75227292e-01  1.64358082e+00  2.70639652e+00 ;
4.00737068e-03  7.27430192e-03  2.17427739e-03  1.09629993e+00  1.17799586e+00  3.16707994e+00 ;

So interprete this like this: the standard deviation for the camera position is around e-03 mm while the standard deviation for the rotation angles are around 1 to 3 (degrees?).

Thanks in advance for the help :slight_smile: