I have a sensor which gives me Euler angles (roll,pitch,yaw). There is a baseline value of Euler angle (assume it is $5,10,15$) at the beginning.I want to calibrate from this baseline values all subsequent value. How can I get those values? Is it just subtract $5,10,15$ from all values Or is there any rotational matrix for doing so? As an example if any time the value is $5,10,15$ then it should show $0,0,0$ and on the same way show other angle values with respect to the baseline values.I don't know how to do this.