{
  "id": 119565,
  "title": "Understanding conversion from Euler angle to rotation matrix",
  "url": "/competitions/pku-autonomous-driving/discussion/119565",
  "author_name": "",
  "post_date": "2019-11-29T15:35:57.974179700Z",
  "votes": 8,
  "comment_count": 4,
  "views": 0,
  "content": "<p>if you check the centernet baseline kernel of this competition you will find in 3D Visualization section the author <strong>converted euler angle to rotation matrix</strong>\ni think that not everyone understand the reason behind that well.</p>\n\n<p><img src=\"http://www.globalnerdy.com/wp-content/uploads/2017/10/euler-angles.jpg\" alt=\"\"></p>\n\n<h1>Euler's rotation theorem</h1>\n\n<p><img src=\"http://mathworld.wolfram.com/images/eps-gif/EulerAngles_600.gif\" alt=\"\"></p>\n\n<p>According to Euler's rotation theorem, any rotation may be described using three angles. If the rotations are written in terms of rotation matrices D, C, and B, then a general rotation A can be written as \n<strong>A = BCD</strong>\nThe three angles giving the three rotation matrices are called Euler angles. </p>\n\n<h1>How to convert Euler Angles to matrix?</h1>\n\n<p>To build a matrix from a set of euler angles we just multiply a sequence of rotation matrices  together</p>\n\n<p>that's why in centernet baseline kernel and under 3D visualization section we have euler_to_Rot() function which returns dot product of Y,P and R</p>",
  "messages": [
    {
      "id": "684334",
      "postDate": "11/29/2019 15:35:57",
      "content": "<p>if you check the centernet baseline kernel of this competition you will find in 3D Visualization section the author <strong>converted euler angle to rotation matrix</strong>\ni think that not everyone understand the reason behind that well.</p>\n\n<p><img src=\"http://www.globalnerdy.com/wp-content/uploads/2017/10/euler-angles.jpg\" alt=\"\"></p>\n\n<h1>Euler's rotation theorem</h1>\n\n<p><img src=\"http://mathworld.wolfram.com/images/eps-gif/EulerAngles_600.gif\" alt=\"\"></p>\n\n<p>According to Euler's rotation theorem, any rotation may be described using three angles. If the rotations are written in terms of rotation matrices D, C, and B, then a general rotation A can be written as \n<strong>A = BCD</strong>\nThe three angles giving the three rotation matrices are called Euler angles. </p>\n\n<h1>How to convert Euler Angles to matrix?</h1>\n\n<p>To build a matrix from a set of euler angles we just multiply a sequence of rotation matrices  together</p>\n\n<p>that's why in centernet baseline kernel and under 3D visualization section we have euler_to_Rot() function which returns dot product of Y,P and R</p>",
      "rawMarkdown": "if you check the centernet baseline kernel of this competition you will find in 3D Visualization section the author **converted euler angle to rotation matrix**\ni think that not everyone understand the reason behind that well.\n\n![](http://www.globalnerdy.com/wp-content/uploads/2017/10/euler-angles.jpg)\n\n# Euler's rotation theorem\n![](http://mathworld.wolfram.com/images/eps-gif/EulerAngles_600.gif)\n\nAccording to Euler's rotation theorem, any rotation may be described using three angles. If the rotations are written in terms of rotation matrices D, C, and B, then a general rotation A can be written as \n**A = BCD**\nThe three angles giving the three rotation matrices are called Euler angles. \n\n\n# How to convert Euler Angles to matrix?\nTo build a matrix from a set of euler angles we just multiply a sequence of rotation matrices  together\n\nthat's why in centernet baseline kernel and under 3D visualization section we have euler_to_Rot() function which returns dot product of Y,P and R",
      "votes": null
    },
    {
      "id": "688773",
      "postDate": "12/06/2019 04:40:41",
      "content": "<p>Good job, I'm just thinking about it.👍 </p>",
      "rawMarkdown": "Good job, I'm just thinking about it.👍",
      "votes": null
    },
    {
      "id": "690728",
      "postDate": "12/09/2019 02:39:34",
      "content": "<p>I have some question about this dataset. It give (model type, yaw, pitch, roll, x, y, z). how to convert it to quaternion？\nif use scipy library, is R.from_euler('ZXY', [yaw, pitch, roll])?</p>",
      "rawMarkdown": "I have some question about this dataset. It give (model type, yaw, pitch, roll, x, y, z). how to convert it to quaternion？\nif use scipy library, is R.from_euler('ZXY', [yaw, pitch, roll])?",
      "votes": null
    },
    {
      "id": "690820",
      "postDate": "12/09/2019 07:59:29",
      "content": "<p>Dear <a href=\"/xsulu123\">@xsulu123</a>  i have no idea about this but you might will want to check this link : <a href=\"https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles\">https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles</a></p>",
      "rawMarkdown": "Dear @xsulu123  i have no idea about this but you might will want to check this link : https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles",
      "votes": null
    },
    {
      "id": "690929",
      "postDate": "12/09/2019 11:08:22",
      "content": "<p>All right, Thank you~</p>",
      "rawMarkdown": "All right, Thank you~",
      "votes": null
    }
  ],
  "comments": [
    {
      "id": 688773,
      "author_name": "diegojohnson",
      "author_url": "",
      "post_date": "12/06/2019 04:40:41",
      "content": "<p>Good job, I'm just thinking about it.👍 </p>",
      "votes": null,
      "replies": []
    },
    {
      "id": 690728,
      "author_name": "xsulu123",
      "author_url": "",
      "post_date": "12/09/2019 02:39:34",
      "content": "<p>I have some question about this dataset. It give (model type, yaw, pitch, roll, x, y, z). how to convert it to quaternion？\nif use scipy library, is R.from_euler('ZXY', [yaw, pitch, roll])?</p>",
      "votes": null,
      "replies": [
        {
          "id": 690820,
          "author_name": "mobassir",
          "author_url": "",
          "post_date": "12/09/2019 07:59:29",
          "content": "<p>Dear <a href=\"/xsulu123\">@xsulu123</a>  i have no idea about this but you might will want to check this link : <a href=\"https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles\">https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles</a></p>",
          "votes": null,
          "replies": []
        },
        {
          "id": 690929,
          "author_name": "xsulu123",
          "author_url": "",
          "post_date": "12/09/2019 11:08:22",
          "content": "<p>All right, Thank you~</p>",
          "votes": null,
          "replies": []
        }
      ]
    }
  ],
  "raw_markdown_by_id": {
    "684334": "if you check the centernet baseline kernel of this competition you will find in 3D Visualization section the author **converted euler angle to rotation matrix**\ni think that not everyone understand the reason behind that well.\n\n![](http://www.globalnerdy.com/wp-content/uploads/2017/10/euler-angles.jpg)\n\n# Euler's rotation theorem\n![](http://mathworld.wolfram.com/images/eps-gif/EulerAngles_600.gif)\n\nAccording to Euler's rotation theorem, any rotation may be described using three angles. If the rotations are written in terms of rotation matrices D, C, and B, then a general rotation A can be written as \n**A = BCD**\nThe three angles giving the three rotation matrices are called Euler angles. \n\n\n# How to convert Euler Angles to matrix?\nTo build a matrix from a set of euler angles we just multiply a sequence of rotation matrices  together\n\nthat's why in centernet baseline kernel and under 3D visualization section we have euler_to_Rot() function which returns dot product of Y,P and R",
    "688773": "Good job, I'm just thinking about it.👍",
    "690728": "I have some question about this dataset. It give (model type, yaw, pitch, roll, x, y, z). how to convert it to quaternion？\nif use scipy library, is R.from_euler('ZXY', [yaw, pitch, roll])?",
    "690820": "Dear @xsulu123  i have no idea about this but you might will want to check this link : https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles",
    "690929": "All right, Thank you~"
  },
  "source": "meta"
}