归一化mysql函数_旋转矩阵，归一化，行列式-1(Rotation matrix, normalization, determinant -1)...

I'm currently implementing an algorithm for 3D pointcloud filtering following a scientific paper.

I run in some problems when computing the rotation matrix for specific values. The goal is to rotate points into the coordinatesystem which is defined by the direction of the normal vector ( Z Axis). Since the following query is rotationally symmetric in X,Y axis, the orientation of these axis does not matter. R is defined as follows: Rotationmatrix

[1 1 -(nx+ny)/nz]

R = [ (row1 x row3)' ]

[nx ny nz ]

n is normalized. The problem occures when n_z becomes really small or zero. Therefore i considered to normalize row 1 before computing the crossproduct for row 2.

Nevertheless the determinant becomes -1. Will the rotationmatrix sill lead to correct results? R is orthogonal but det|R| not +1

thanks for any suggestions