.. _app_3d_rotation-converter:

====================================================
Application: 3d-rotation-converter
====================================================

`3d-rotation-converter` is a GUI application to help visualizing relative 
3D poses (the mathematical group SO(3)) and to convert between different 
common parameterizations of rotations. Mathematical details on SO(3) 
parameterizations and transformations between them can be found in :cite:`besl1992method`.
For the C++ API for SO(3) and SE(3) in MRPT, see the `point and pose classes <group_poses_grp.html>`_
which belong to the library `mrpt-poses <group_mrpt_poses_grp.html>`_.

Launch the application with:

.. code-block:: bash

   3d-rotation-converter

.. note::
   An online version of this 3D rotation calculator is available `here <https://mrpt.github.io/webapp-demos/3d-rotation-converter.html>`_
   and runs directly on the browser (desktop or mobile device).

The following video tutorial summarizes its usage:

.. raw:: html

    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
        <iframe src="https://www.youtube.com/embed/YOe9Gz26DJg" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
    </div>
