I want to compute the Euler angles from a rotation matrix in order to find out the orientation associated to that rotation. For that purpose, I am using MATLAB and the function rotm2eul that gives me the rotation first about x-axis, then about y-axis and finally the z-axis.
I am using a signal with 1000 frames and for each frame a rotation matrix is computed, as well, the three Euler angles. However, when I am going to see the Euler angles' curve, there is some "jumps" as I shown on the figures below.
On Technique 1, I think it jumps from -180º to 180º which should be the same. In fact, the upper portion of the plot seems a continuation of the lower portion. So in this case I thought I could subtract 360º to the upper portion to get the plot. But I am not sure if I do this I am falsifying the results.
On Technique 2, it makes a jump with a different reason of the previous one. I think it must be because the angle associated with the y-axis reaches 90º which should be a boundary case. But in this case I don't know how should I correct the data or , like previously, if I want to correct the plot is falsifying the euler angle result.
unwrapto automatically adjust the angles to minimize the jump by adding or subtracting 2\pi. However, without seeing your code, some example data, and your expected output for techniques 1 and 2, it is impossible to tell you whether either is "correct". – craigim