www.pudn.com > calibr8.zip > deeuler_deg.m

function [ox, fy, kz] = deeuler_deg( Ro )
%DEVELOPMENT PHASE
%
% [ox, fx, kz] = deeuler_deg( Ro )
%
% Ro - rotation matrix 3x3
%
% ox, oy, kz - euler angles
%
% computes the euler angles from rotatin matrix
%

fy = asin( Ro(3,1) );
ox = atan2( -Ro(3,2)/cos(fy), Ro(3,3)/cos(fy) );
kz = atan2( -Ro(2,1)/cos(fy), Ro(1,1)/cos(fy) );
fy = fy * 180/pi;
ox = ox * 180/pi;
kz = kz * 180/pi;