Is it the Global frame-of-reference or Local frame-of-reference of the rotation
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I need to translate the rotation matrix to Euler angle.
And following this blog https://www.learnopencv.com/rotation-matrix-to-euler-angles/, I saw the Python code like (using order 'z, y, x'):
def rotation_matrix_to_euler_angles(matrix):
sy = math.sqrt(matrix[0,0] * matrix[0,0] + matrix[1,0] * matrix[1,0])
singular = sy < 1e-6
if not singular :
x = math.atan2(matrix[2, 1] , matrix[2, 2])
y = math.atan2(-matrix[2,0], sy)
z = math.atan2(matrix[1,0], matrix[0,0])
else :
x = math.atan2(-matrix[1, 2], matrix[1, 1])
y = math.atan2(-matrix[2,0], sy)
z = 0
return [x, y, z]
Or you can find the other solutions for other orders in:
https://www.geometrictools.com/Documentation/EulerAngles.pdf
But in the blog and in the PDF, they didn't mention which frame-of-reference they were using. So I am not sure, this solution is Global frame-of-reference or Local frame-of-reference of the rotation.
python rotation euler-angles
edited Nov 11 at 12:32
Zoe
10.6k73575
asked Nov 11 at 0:41
Colin Ji
513314
add a comment |
up vote
0
down vote
favorite
I need to translate the rotation matrix to Euler angle.
And following this blog https://www.learnopencv.com/rotation-matrix-to-euler-angles/, I saw the Python code like (using order 'z, y, x'):
def rotation_matrix_to_euler_angles(matrix):
sy = math.sqrt(matrix[0,0] * matrix[0,0] + matrix[1,0] * matrix[1,0])
singular = sy < 1e-6
if not singular :
x = math.atan2(matrix[2, 1] , matrix[2, 2])
y = math.atan2(-matrix[2,0], sy)
z = math.atan2(matrix[1,0], matrix[0,0])
else :
x = math.atan2(-matrix[1, 2], matrix[1, 1])
y = math.atan2(-matrix[2,0], sy)
z = 0
return [x, y, z]
Or you can find the other solutions for other orders in:
https://www.geometrictools.com/Documentation/EulerAngles.pdf
But in the blog and in the PDF, they didn't mention which frame-of-reference they were using. So I am not sure, this solution is Global frame-of-reference or Local frame-of-reference of the rotation.
python rotation euler-angles
edited Nov 11 at 12:32
Zoe
10.6k73575
asked Nov 11 at 0:41
Colin Ji
513314
add a comment |
up vote
0
down vote
favorite
up vote
0
down vote
favorite
I need to translate the rotation matrix to Euler angle.
And following this blog https://www.learnopencv.com/rotation-matrix-to-euler-angles/, I saw the Python code like (using order 'z, y, x'):
def rotation_matrix_to_euler_angles(matrix):
sy = math.sqrt(matrix[0,0] * matrix[0,0] + matrix[1,0] * matrix[1,0])
singular = sy < 1e-6
if not singular :
x = math.atan2(matrix[2, 1] , matrix[2, 2])
y = math.atan2(-matrix[2,0], sy)
z = math.atan2(matrix[1,0], matrix[0,0])
else :
x = math.atan2(-matrix[1, 2], matrix[1, 1])
y = math.atan2(-matrix[2,0], sy)
z = 0
return [x, y, z]
Or you can find the other solutions for other orders in:
https://www.geometrictools.com/Documentation/EulerAngles.pdf
But in the blog and in the PDF, they didn't mention which frame-of-reference they were using. So I am not sure, this solution is Global frame-of-reference or Local frame-of-reference of the rotation.
python rotation euler-angles
edited Nov 11 at 12:32
Zoe
10.6k73575
asked Nov 11 at 0:41
Colin Ji
513314
I need to translate the rotation matrix to Euler angle.
And following this blog https://www.learnopencv.com/rotation-matrix-to-euler-angles/, I saw the Python code like (using order 'z, y, x'):
def rotation_matrix_to_euler_angles(matrix):
sy = math.sqrt(matrix[0,0] * matrix[0,0] + matrix[1,0] * matrix[1,0])
singular = sy < 1e-6
if not singular :
x = math.atan2(matrix[2, 1] , matrix[2, 2])
y = math.atan2(-matrix[2,0], sy)
z = math.atan2(matrix[1,0], matrix[0,0])
else :
x = math.atan2(-matrix[1, 2], matrix[1, 1])
y = math.atan2(-matrix[2,0], sy)
z = 0
return [x, y, z]
Or you can find the other solutions for other orders in:
https://www.geometrictools.com/Documentation/EulerAngles.pdf
But in the blog and in the PDF, they didn't mention which frame-of-reference they were using. So I am not sure, this solution is Global frame-of-reference or Local frame-of-reference of the rotation.
python rotation euler-angles
python rotation euler-angles
edited Nov 11 at 12:32
Zoe
10.6k73575
asked Nov 11 at 0:41
Colin Ji
513314
edited Nov 11 at 12:32
Zoe
10.6k73575
asked Nov 11 at 0:41
Colin Ji
513314
edited Nov 11 at 12:32
Zoe
10.6k73575
edited Nov 11 at 12:32
Zoe
10.6k73575
edited Nov 11 at 12:32
Zoe
10.6k73575
10.6k73575
asked Nov 11 at 0:41
Colin Ji
513314
asked Nov 11 at 0:41
Colin Ji
513314
asked Nov 11 at 0:41
Colin Ji
513314
513314
add a comment |
add a comment |
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