I have 4x4 transformation matrices that represents translation, scale and rotation of a given object in 3d space.

I found how to extract translation, scale and rotation assuming the scale is always positive, but in my case those matrices can contain negative values for the scale vector (the rotation/scale 3x3 matrix determinant can be negative).

Assuming those matrices with negative determinant, how can I decompose the correct values for scale and rotation?

  • $\begingroup$ Can you give a specific example? How can a rotation matrix have negative determinant? $\endgroup$ Nov 18, 2020 at 8:35
  • $\begingroup$ You can take a look at this answer to a similar question: math.stackexchange.com/a/3554913/711238 $\endgroup$
    – aerobiomat
    Nov 18, 2020 at 22:07


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