Panotools::Matrix - Miscellaneous math for panoramic images

$matrix = rollpitchyaw2matrix ($roll, $pitch, $yaw);

All angles are in radians not degrees.

rollpitchyaw2matrix returns a matrix arrayref that encapsulates a transformation suitable for rotating a vector/point by three degrees of freedom (roll, pitch and yaw).

roll is positive rotation around the x-axis

pitch is negative rotation around the y-axis

yaw is negative rotation around the z axis

use Panotools::Matrix qw(matrix2rollpitchyaw rollpitchyaw2matrix multiply);

my $point = [[$x1], [$y1], [$z1]];

my $matrix = rollpitchyaw2matrix ($roll, $pitch, $yaw);

my $result = multiply ($matrix, $point);

($x2, $y2, $z2) = ($result->[0][0], $result->[1][0], $result->[2][0]);