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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.