why the rotation formula no same with wikipedia

[rmGFW]

hi , this is a very nice book ;

i was confused when reading chapter of Camera Calibration ,

this matrix seems that no same with below (from https://en.wikipedia.org/wiki/Rotation_matrix)

[Mario Theers]

Hi @rmGFW, sorry for the late reply. These rotation matrices are always a pain. Everybody has different conventions. We tried to go for one that is compatible wit the CARLA simulator.

One difference to Wikipedia is that we call pitch $\alpha$, yaw $\beta$, roll $\gamma$ and Wikipedia yaw $\alpha$, pitch $\beta$, roll $\gamma$. Then also which rotation is around the x,y,z axis is different. Compare the pitch matrix from Wikipedia with the pitch matrix from the book. Everybody has different conventions :/ But the concept is the same :)