By inverse rotation, or in other world, rotate camera from world origin and rotate back, will have completely different angles, if the sequence are maintained.

rotation_in_pose_seq.py

"""
Rotation inverse & different sequence.
By inverse rotation, or in other world, rotate camera from world origin and rotate back, will have completely different angles, if the sequence are maintained.
"""
import transforms3d
import math

if __name__ == '__main__':

    pitch, yaw, roll = 10, 20, 30
    # x, y, z = 0, 90, 0

    x=math.radians(pitch)
    y=math.radians(yaw)
    z=math.radians(roll)

    R_w2c = transforms3d.euler.euler2mat(x, y, z, axes='rxyz')

    R_c2w = R_w2c.T

    xyz_rad = transforms3d.euler.mat2euler(R_c2w, axes='rxyz')
    xyz_degree = list(map(math.degrees, xyz_rad))
    print(xyz_degree) # (-19.01, -11.82, -33.75)

    zyx_rad = transforms3d.euler.mat2euler(R_c2w, axes='rzyx')
    zyx_degree = list(map(math.degrees, zyx_rad))
    print(zyx_degree) # (-30, -20, -10)