Rotation Axis Remap?

I think you should try using Quaternion calculations as tracker may be rotated along its current ('momental' let's say that) axes. So, the final rotation would be the summary of all the rotations made by the tracker, I think.

From the comments, what I understood is that you get the rotation matrix right, but you want the rotation to happen on another axis. For example, your matrix rotates around z, but you want it to be around x.

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