I have omega phi kappa and corresponding yaw (Z) pitch (Y) roll (X) measurements from a sensor.
Both are in degrees but I convert them to rads.
I try to do some tranformations for a photogrammetry project.
While using the yaw, pitch, roll values and the Robotics Toolbox function:
R_euler = eul2r(yaw_rad, pitch_rad, roll_rad)
the result of the transformation is as expected (visually)
However, I need to calculate the rotation matrix also based on the omega, phi, kappa values.
I use my own rotation matrix for (w,f,k) = (omega, phi, kappa) that I have used successfuly in the past for similar transformation problems:
R=[ cos(f)*cos(k) cos(w)*sin(k)+sin(w)*sin(f)*cos(k) sin(w)*sin(k)-cos(w)*sin(f)*cos(k)
-cos(f)*sin(k) cos(w)*cos(k)-sin(w)*sin(f)*sin(k) sin(w)*cos(k)+cos(w)*sin(f)*sin(k)
sin(f) -sin(w)*cos(f) cos(w)*cos(f)];
but I do not get the same result, and indeed it looks not as good. I tried various transformations, also using the inverted
but it doesn't work.
I am wondering which transformation matrix is used in the Robotics Toolbox function, as I could not find anything in the documentation.
Just in case, I give you my exaple values in degrees:
omega phi kappa = 3.927820353,4.052795303,44.806238302
roll pitch yaw = -174.358491845,0.100258014,44.950203063
Any help? Thanks!