Euler angles calculation

2011 5 29
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I use a YXZ rotation order to rotate a point in 3D around the origin (0, 0 ,0). So the pseudocode I use is newPoint = R * oldPoint, where R is the rotation matrix RY * RX * RZ.
If I want to do the oposite procedure, which is, given the old and the new point to calculate the euler angles I used to get the new point what should I do?
To summarize in the first case I have the Euler angles and I use the matrix multiplication to obtain the new point coordinates. In the second case I have the new point coordinates but I want to know the Euler angles used to get this result.
Any suggestions?

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Paulo Silva
Paulo Silva 2011-5-29

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GeorgeP P
GeorgeP P 2011-5-29
This answer requires that I have the rotation matrix values. From my data I have newPoint = R * oldPoint, where newPoint and onldPoint are the known matrices. So how do I get R from these matrices? I suspect I have to get the system of linear equations, but is there another way of doing this?

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GeorgeP P
GeorgeP P
2011-5-29

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