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tfg.geometry.transformation.axis_angle.from_rotation_matrix

Converts a rotation matrix to an axis-angle representation.

tfg.geometry.transformation.axis_angle.from_rotation_matrix(
    rotation_matrix,
    name=None
)

Defined in geometry/transformation/axis_angle.py.

Note:

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.

Note:

In the following, A1 to An are optional batch dimensions.

Args:

  • 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".

Returns:

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.

Raises:

  • ValueError: If the shape of rotation_matrix is not supported.