# Estimate 3D cube pose after camera rotation

I have some photos of 3D cube. I also know the 3D pose of the cube in each photo (yaw, pitch, roll).

I want to estimate the new pose (yaw, pitch, roll) of the cube after performing 2D rotation to the photo (like 2D camera rotation).

I don't care its new position but the pose only.

So, how can I calculate the new pose of 3D object after 2D rotation?

For example:
Original

After image rotation (-45 deg) - Yaw, Pitch & Roll are different

• If its isometric you can use the area of the sides and their centroids for starters? Jan 7, 2020 at 11:46
• I don't have the cube shape (area, edges, surface, etc). The image is just 3D cube that tagged with yaw, pitch & roll and I need to know what are the new yaw, pitch & roll after camera rotation. Jan 7, 2020 at 13:58
• I see that I misunderstoof you partly. First, find the rotation of the image (this should be fairly easy). Second, convert from YPR to a rotation matrix, multiply this with the rotation, convert back to YPR (well covered, google it :) ). Jan 8, 2020 at 11:47
• I tough about it. But multiply this with the rotation is the part that I think I have troubles with. YPR to a rotation matrix - fair, so I have 3x3 matrix. But how can I rotate it like camera rotation? Jan 8, 2020 at 14:16
• Rotating a 2D image would be a rotation about only one axis. Jan 8, 2020 at 15:06