tr2rt

Convert homogeneous transform to rotation and translation

[R,t] = TR2RT(TR) splits a homogeneous transformation matrix (N×N) into an orthonormal rotation matrix R (M×M) and a translation vector t (M×1), where N=M+1.

Works for TR in SE(2) or SE(3)

• If TR is 4×4, then R is 3×3 and T is 3×1.
• If TR is 3×3, then R is 2×2 and T is 2×1.

A homogeneous transform sequence TR (N×N× K) is split into rotation matrix sequence R (M×M× K) and a translation sequence t (K×M).

Notes

• The validity of R is not checked.

See also

rt2tr, r2t, t2r

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