Euler angles calculation

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?

Answer 1

[Paulo Silva]

Computing Euler angles from a rotation matrix

[GeorgeP P]

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?