Converts a rotation matrix to an axis-angle representation.
tfg.geometry.transformation.axis_angle.from_rotation_matrix( rotation_matrix, name=None )
In the current version the returned axis-angle representation is not unique for a given rotation matrix. Since a direct conversion would not really be faster, we first transform the rotation matrix to a quaternion, and finally perform the conversion from that quaternion to the corresponding axis-angle representation.
In the following, A1 to An are optional batch dimensions.
rotation_matrix: A tensor of shape
[A1, ..., An, 3, 3], where the last two dimensions represent a rotation matrix.
name: A name for this op that defaults to "axis_angle_from_rotation_matrix".
A tuple of two tensors, respectively of shape
[A1, ..., An, 3] and
[A1, ..., An, 1], where the first tensor represents the axis, and the
second represents the angle. The resulting axis is a normalized vector.
ValueError: If the shape of
rotation_matrixis not supported.