Convert 3-D rotation matrix to rotation vector
Convert Rotation Matrix to Rotation Vector
Create a matrix representing a 90-degree rotation about the Z axis.
rotationMatrix = [0 -1 0; 1 0 0; 0 0 1];
Find the equivalent rotation vector.
rotationVector = rotmat2vec3d(rotationMatrix)
rotationVector = 1×3 0 0 1.5708
rotationVector — Rotation vector
Rotation vector, returned as a three-element vector. The vector represents the axis of rotation in 3-D, where the magnitude corresponds to the rotation angle in radians.
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Version HistoryIntroduced in R2022b
R2022b: Recommended over
Starting in R2022b, most Computer Vision Toolbox™ functions create and perform geometric transformations using the premultiply
convention. However, the
rotationMatrixToVector function uses the
postmultiply convention. Although there are no plans to remove
rotationMatrixToVector at this time, you can streamline your
geometric transformation workflows by switching to the
function, which supports the premultiply convention. For more information, see Migrate Geometric Transformations to Premultiply Convention.