How to convert Yaw, Pitch, Roll to Omega, Phi, Kappa?

The conversion of Yaw, Pitch, Roll to Omega, Phi, Kappa can be a difficult task, since there is not a standard definition of Yaw, Pitch, Roll, and the conversion depends on several factors (position on the earth, output coordinate system, etc). For more information about how Pix4D does this conversion: yaw_pitch_roll (Pix4D uses the PATB convention). You can find companion notes (pdf) to help read the paper and explain in more details how it applies to Pix4D computations at the bottom of this article.

For more information about how Pix4D defines Yaw, Pitch, Roll: 205675256.
For more information about how Pix4D defines Omega, Phi, Kappa: 202558969.

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