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.

Note
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.

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 "euler_from_rotation_matrix".

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

Raises
ValueError	If the shape of rotation_matrix is not supported.