AdelYoussef
commented
7 months ago after some trails and errors i found out that i was using a rotation order when converting to euler angles that was "ZYX" order and it was what caused the issue. to be able to comprehend the rotation, it needs to be converted to euler angles but not in the "ZYX" order but instead in the "YZX" this totally solved the issue, i also implemented a simple c++ function does the conversion and uses opencv matrices, the implementation was done but referencing to the Matlab implementation
i'm using ORBSLAM3 with ZED2 Camera in the Stereo mode, when i preform a pure rotation on the ZED2 camera around the vertical axis (y-axis) the resulted rotation matrix maintains rotation about the vertial axis until i exceed 45 degrees then the depth axis(z-axis) starts to rotate along with the vertical axis although i'm only rotating about the vertical axis