转自：/questions/23009549/roll-pitch-yaw-calculation
Your equations are correctonly ifthe order of rotations is: roll, then pitch, then yaw. For the record, the correspondence with Euler angles (with respect to the frame of reference implicitly given with the transformation matrix) is as follows:
Rollis the rotation about thex axis(between -180 and 180 deg);Pitchis the rotations about they axis(between -90 and 90 deg);Yawis the rotation about thez axis(between -180 and 180).
Given these, the orderroll, pitch, yawmentioned in the first sentence corresponds to the rotation matrix obtain by the matrix productRz Ry Rx(in this order). Note that your formula give the values of these anglesin radians(multiply by 180 and divide by pi to obtain values in degrees). All rotations are counter-clockwise with respect to the axis.
