mindscience.e3nn.o3.matrix_to_angles

mindscience.e3nn.o3.matrix_to_angles(r_param)

Convert \(3 \times 3\) rotation matrix into Euler angles (\((\alpha, \beta, \gamma)\)).

Parameters

r_param (Tensor) – The rotation matrices. Matrices of shape \((..., 3, 3)\).

Returns

tuple[Tensor]. A tuple of \(alpha\), \(beta\), \(gamma\) Tensors.

Raises

ValueError – If the det(R) is not equal to 1.

Examples

>>> import mindspore as ms
>>> from mindscience.e3nn.o3 import matrix_to_angles
>>> input = ms.Tensor([[0.5672197, 0.1866971, 0.8021259], [0.27070403, 0.87758255, -0.395687],
...                    [-0.77780527, 0.44158012,0.4472424]])
>>> m = matrix_to_angles(input)
>>> print(m)
(Tensor(shape=[], dtype=Float32, value= 0.4), Tensor(shape=[], dtype=Float32, value= 0.5),
Tensor(shape=[], dtype=Float32, value= 0.6))