Transform various rotation sequences to YXZ (UnrealCV format), so the rotation sequence matters.

euler_rotation_transform.py

"""
Transform various rotation sequences to YXZ (UnrealCV format), so the rotation sequence matters.
"""
import transforms3d
import math


if __name__ == '__main__':

    # pitch, yaw, roll = 10, 20, 30
    x, y, z = 10, 20, 30
    # x, y, z = 90, 45, -90

    x=math.radians(x)
    y=math.radians(y)
    z=math.radians(z)

    # M1 = transforms3d.euler.euler2mat(x, y, z, axes='rxyz')
    # M1 = transforms3d.euler.euler2mat(x, z, y, axes='rxzy')
    # M1 = transforms3d.euler.euler2mat(y, x, z, axes='ryxz')
    # M1 = transforms3d.euler.euler2mat(y, z, x, axes='ryzx')
    # M1 = transforms3d.euler.euler2mat(z, x, y, axes='rzxy')
    M1 = transforms3d.euler.euler2mat(z, y, x, axes='rzyx')

    print(M1)

    rad = transforms3d.euler.mat2euler(M1, 'ryxz')
    degree = list(map(math.degrees, rad))
    print(degree)

    # to yxz
    # xyz 20.28 9.39 33.45
    # xzy 17.23 -0.30 31.47
    # yxz 20.0 10.0 30.0
    # yzx 25.04 8.65 30.38
    # zxy 22.21 -1.70 31.43
    # zyx 22.25 -1.03 28.02