I have a rotation matrix R, that produces an arbitrary rotation in a 3D space.
I would like to decompose it into 3 rotation matrices Rx, Ry and Rz so I can use and apply only xy in plane rotation (with Rz).
If I determine a rotation to align one of the columns of the rotation matrix R to the [0 0 1] vector, it doesn't guarantee that one gets a proper rotation of the entire space, because there are actually infinite solutions!
Thank you!
ANSWER:
http://nghiaho.com/?page_id=846 This guy has got a good explanation!