Adjust camera co-ordinates to represent change in azimuth, elevation and roll values

I'm currently working with libQGLViewer, and I'm receiving a stream of data from my sensor, holding azimuth, elevation and roll values, 3 开发者_开发问答euler angles.

The problem can be considered as the camera representing an aeroplane, and the changes in azimuth, elevation and roll the plane moving.

I need a general set of transformation matrices to transform the camera point and the up vector to represent this, but I'm unsure how to calculate them since the axis to rotate about changes after each rotation ( I think? ).

Either that, or just someway to pass the azimuth, elevation, roll values to the camera and have some function do it for me? I understand that cameraPosition.setOrientation(Quaterion something) might work, but I couldn't really understand it. Any ideas?

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For example you could just take the three matrices for rotation about the coordinate axes, plug in your angles respectively, and multiply these three matrices together to get the final roation matrix (but use the correct multiplication order).

You can also just compute a quaternion from the euler angles. Look here for ideas. Just keep in mind that you always have to use the correct order of the euler angles (whatever your three values mean), perhaps with some experimentation (those different euler conventions always make me crazy).

EDIT: In response to your comment: This is accounted by the order of rotations. The matrices applied like v' = XYZv correspond to roation about z, unchanged y and then unchanged x, which is equal to x, y' and then z''. So you have to keep an eye on the axes (what your words like azimuth mean) and the order in which you rotate about these axes.