Camera rotation matrix

[Sendan]

Hey guys,
im trying at the moment to export the camera externals and internals for further processing via matlab.
There are two options about to choose:

1. Export internal and external paramteres as txt
2. Export intrinsics and extriniscs as xmp

For a specific camera i get the folowing values for the rotationmatrix
1)
### First Axis of Rotation X, Second Axis of Rotation Y, Third Axis of Rotation Z
"180430_140521_1.png" 0.194836 -112.099455 586.355392 23.052650 -0.210098 90.666832

So the Rotationmatrix R should be calculated by
R=RotZ(gamma)*RotY(beta)*RotX(alpha)

with

alpha=23.052650
beta=-0.210098
gamma=90.666832

when i calculate the above equation with matlab i get:
-0.0116 -0.9201 0.3916
R = 0.9999 -0.0121 0.0012
0.0037 0.3916 0.9201

2)
-0.011638076 0.92009981 0.39151104
R = 0.99992555 0.0092730188 0.0079310836
0.0036668993 0.3915742 -0.92013923

Both rotationmatrices are similar but not equal...
Can you answer me where my error is?

Kind regards

Michael

[Andrea Alessi]

Hi Michael,

not sure if i understood, but it looks good to me. Are you sure you set matlab to print more than 4 decimals ?

[Sendan]

Thx for the fast reply
Its not only about the values:
Element(row=1,column=2) from 1) is negative
Element(row=1,column=2) from 2) is positive

[Andrea Alessi]

the transformation looks good, but most likely the axis convention you are using is different than the one in zephyr, so simply invert them accordingly to your reference system