3d-rotation-converter | MRPT web application (Source code)

SO(3) rotation online calculator

This tool allows an easy visualization of arbitrary spatial rotations (rotation matrices in SO(3)) specified in any of the common conventions, like yaw-pitch-roll, quaternions, axis-angle, or just the 3x3 matrices.

For a technical discussion of the different conventions and the formulas to convert between them, please refere to the technical report "A tutorial on SE(3) transformation parameterizations and on-manifold optimization" (arXiv).