Hello

In configuration, under sensor I have nominalSensor2Rig_FLU configuration with “roll-pitch-yaw” and “t”.
I understand that driveworks constructs a transformation matrix based on these when calling dwRig_getSensorToRigTransformation.
What is underlying mathematical formula behind this? I have been trying to figure out how exactly these 6 parameters are used to construct sensor to rig transformation matrix. I am using camera sensor in particular.

So far I have tried:
trans = T * Rz * Ry * Rz * S, where S is matrix that swaps axis in a form:
[0 0 1 0; -1 0 0 0; 0 -1 0 0; 0 0 0 1]; T is translation matrix [0 0 0 t[0]; 0 0 0 t[1]; 0 0 0 t[2]; 0 0 0 1], and Rz, Ry, Rx are general 4x4 rotation matrices around their designated axis (note: I am using MATLAB notation to write matrices).
Rz - yaw rotation, Ry - pitch rotation, Rx - roll rotation. I made sure to take care of degrees vs. radians as well.

However, I haven’t come close to what dwRig_getSensorToRigTransformation returns (and I have tried many different combinations).

We will check internally and get back to you. Thanks.

Hi!

I was able to get this issue resolved this morning. I had forgotten to include corrections from config file.
So in conclusion I needed to add together both nominal and correction sensor2rig parameters. For rotations I needed to turn them into radians.
And then T * Tx * Ty * Tz * S (in form that I had described in initial post) did the trick for me. There were some accuracy differences but they were mainly around 0.05 degrees maximum differences (which can be ignored).