tfg.geometry.transformation.euler.from_rotation_matrix

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Converts rotation matrices to Euler angles.

tfg.geometry.transformation.euler.from_rotation_matrix(
    rotation_matrix: type_alias.TensorLike,
    name: str = 'euler_from_rotation_matrix'
) -> tf.Tensor

The rotation matrices are assumed to have been constructed by rotation around the \(x\), then \(y\), and finally the \(z\) axis.

There is an infinite number of solutions to this problem. There are

Gimbal locks when abs(rotation_matrix(2,0)) == 1, which are not handled.

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 "euler_from_rotation_matrix".

A tensor of shape [A1, ..., An, 3], where the last dimension represents the three Euler angles.

ValueError If the shape of rotation_matrix is not supported.