matrix determined by eul2rotm does not match a matrix calculated by euler angles using rotm2eul

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Imura Akiko
Imura Akiko 2020-11-19
回答： Yiping Liu 2021-5-23
I calcurated euler angles from a rotation matrix using "rotm2eul".
And I tried to confirm if a matrix calculated from the euler angles using "eul2rotm" corresponds to the original matrix.
However, the recalculated matrix did not correspond to the original one.
I used a sequence "XYZ" for both calcurations.
Is this conformation process wrong?
I would like to reproduce a rotation matrix using euler angles.
If anyone knows solutions about this, please let me know.
Sincerely,
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Imura Akiko
Imura Akiko 2020-11-22
Sorry for all, I inputted wrong rotation matrix whose determinant is -1.
This makes errors.
I got a solution about this already.
Sorry for bothreing you.
Especially, kind people who reacted to me, thank you for finding my small problem out of massive postings in the world.
David Goodmanson
David Goodmanson 2020-11-22
Hello Akiko, it might be a small problem, but it's an interesting one, the finding that det = -1 changes things so radically.

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回答（1 个）

Yiping Liu
Yiping Liu 2021-5-23
When you feed in a rotation matrix to rotm2eul, if the matrix is not orthonormal, the rotm2eul will try to find the closest orthonormal matrix first. In that case if you try to convert the Euler angles back to rotation matrix, you won't get back the original one.

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