# Documentation

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# rotationMatrixToVector

Convert 3-D rotation matrix to rotation vector

## Syntax

``rotationVector = rotationMatrixToVector(rotationMatrix)``

## Description

example

````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.```

## Examples

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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

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

## Output Arguments

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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`

## References

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