Compute rotation matrix using the magnetic field

Question

In get rotation matrix value it contains public static boolean getRotationMatrix (float[] R, float[] I, float[] gravity, float[] geomagnetic) Here how can i calcula

Answer 1

I know that this is an old thread but in case it helps, for Android I think the 3x3 rotation matrix is actually given by a variation of the approved answer. To be specific, in Android the rotation matrix is

     (cosφ cosψ - sinφ sinψ sinθ)     sinφ cosθ     ( cosφ sinψ + sinφ cosψ sinθ)
    -(sinφ cosψ + cosφ sinψ sinθ)     cosφ cosθ     (-sinφ sinψ + cosφ cosψ sinθ)
              -sinψ cosθ                 -sinθ                  cosφ cosθ

where

    φ = azimuth
    θ = pitch
    ψ = roll

which corresponds to the 3x3 Android rotation matrix R[0] to R[8] (matrixR in the question) via

    R[0] R[1] R[2]
    R[3] R[4] R[5]
    R[6] R[7] R[8]