Extract Yaw, Pitch, And Roll From A Rotationmatrix

I have a sensor manager that returns a rotationMatrix based on the devices Magnetometer and Accelerometer. I have been trying to also calculate the yaw pitch and roll of the user'

Solution 1:

I believe Blender's answer is not correct, since he gave a transformation from Rotation matrix to Euler angles (z-x-z extrinsic), and Roll Pitch Yaw are a different kind of Euler angles (z-y-x extrinsic).

The actual transformation formula would rather be:

yaw=atan2(R(2,1),R(1,1));pitch=atan2(-R(3,1),sqrt(R(3,2)^2+R(3,3)^2)));roll=atan2(R(3,2),R(3,3));

Source

Feedback : this implementation revealed to lack numerical stability near the singularity of the representation (gimbal lock). Therefore on C++ I recommend using Eigen library with the following line of code:

R.eulerAngles(2,1,0).reverse();

(More details here)

Solution 2:

Yaw, pitch and roll correspond to Euler angles. You can convert a transformation matrix to Euler angles pretty easily:

Solution 3:

Sensor Manager provides a SensorManager.getOrientation to get all the three angle.