Get Rotation Matrix from 2 Orthogonal Planes

Computes a 3x3 rotation matrix from two orthogonal planes in a 3D point cloud.
Updated 7 Jun 2012

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Shows a 3D point cloud and lets the user select a plane by clicking on two points. The selected plane is highlighted.

The math is pretty simple:

A surface normal is computed for each plane using eigenvectors, later the y axis is set to be 0, any rotation is subtracted from it to obtain orthogonals surface normals. The cross product ot them is computed to obtan the z axis normal and conform the 3x3 rotation matrix.

Cite As

Gemma Parra (2024). Get Rotation Matrix from 2 Orthogonal Planes (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2010a
Compatible with any release
Platform Compatibility
Windows macOS Linux

Inspired by: Click3dPoint

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