3D Rotation Converter and Visualizer

Feb 21, 2026 | Tech Software

Input

The input matrix is polar-decomposed to obtain a proper rotation matrix in SO(3).

The input quaternion is normalized to obtain a proper unit quaternion.

Angle

Axis-X

Axis-Y

Axis-Z

Rad Deg

The input axis is normalized to obtain a proper unit vector in R³.

{B}-Ez-1{S}-Yaw-3

{B}-Ey-2{S}-Pitch-2

{B}-Ex-3{S}-Roll-1

Rad Deg

Output

Rad Deg

Rotation Matrix

Quaternion (w-xyz)

Angle-Axis

Euler-ZYX | Space-RPY

Reference