# tfg.geometry.transformation.axis_angle.from_rotation_matrix

Converts a rotation matrix to an axis-angle representation.

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_matrix` is not supported.

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{"lastModified": "Last updated 2022-10-28 UTC."}