This is machine translation

Translated by Microsoft
Mouseover text to see original. Click the button below to return to the English verison of the page.

Note: This page has been translated by MathWorks. Please click here
To view all translated materals including this page, select Japan from the country navigator on the bottom of this page.


Convert 3-D rotation matrix to rotation vector


rotationVector = rotationMatrixToVector(rotationMatrix)



rotationVector = rotationMatrixToVector(rotationMatrix) returns an axis-angle rotation vector that corresponds to the input 3-D rotation matrix. The function uses the Rodrigues formula for the conversion.


collapse all

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 = rotationMatrixToVector(rotationMatrix)
rotationVector = 

         0         0   -1.5708

Input Arguments

collapse all

Rotation of camera, specified as a 3-by-3 matrix. You can obtain this matrix by using the extrinsics function.

Output Arguments

collapse all

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.

Data Types: single | double


[1] Trucco, E., and A. Verri. Introductory Techniques for 3-D Computer Vision." Prentice Hall, 1998.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2016a