how to get the extrinsic matrix from the data published on the predictedPose topic

[Fawzikhattar]

Hello, I would like to get the extrinsic matrix that represents the drone position that is published on the predictedPose topic. can anyone help me how to interpret the yaw, roll and pitch angles as their is different combinations that might be true. Another way to say what i want is: From x,y,z,roll,yaw,pitch published on predicted pose topic i would like to get a 4x4 extrinsic matrix of the drone position in the Global CS. Thank you.