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.

edited Nov 11 at 12:32

Zoe

10.4k73575

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.

edited Nov 11 at 12:32

Zoe

10.4k73575

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.

edited Nov 11 at 12:32

Zoe

10.4k73575

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

edited Nov 11 at 12:32

Zoe

10.4k73575

asked Nov 11 at 0:41

Colin Ji

513314

edited Nov 11 at 12:32

Zoe

10.4k73575

asked Nov 11 at 0:41

Colin Ji

513314

edited Nov 11 at 12:32

Zoe

10.4k73575

edited Nov 11 at 12:32

Zoe

10.4k73575

edited Nov 11 at 12:32

Zoe

10.4k73575

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

add a comment |

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