tfg.geometry.transformation.euler.from_rotation_matrix

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.