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I am developing an app, in which I record the device orientation and position of the user. I tried to calculate the Euler Angels (pitch, roll & yaw) out of the Rotationmatrix given by CMAttitude. I was not able to do that. I already read how the Data is recorded and which Euler Angle represent which rotation (https://developer.apple.com/documentation/coremotion/getting_processed_device-motion_data/understanding_reference_frames_and_device_attitude).

I'm searching for a formula for calculating the rotation matrix (https://developer.apple.com/documentation/coremotion/cmattitude/1616139-rotationmatrix) out of the roll, pitch & yaw value and reverse.

greece57
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  • Maybe [this post](http://www.gregslabaugh.net/publications/euler.pdf) solves your problem? – Reinhard Männer Jul 15 '19 at 14:54
  • @ReinhardMänner the problem was, that calculating them did not get us to the right solution (the matrices/euler angles did not match). It seems that Apple calculates them differently. – greece57 Jul 15 '19 at 14:56

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