# tfg.geometry.transformation.euler.from_rotation_matrix

Converts rotation matrices to Euler angles.

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


Defined in geometry/transformation/euler.py.

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.