t2r

Rotational submatrix

R = T2R(T) is the orthonormal rotation matrix component of homogeneous transformation matrix T. Works for T in SE(2) or SE(3)

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

Notes

• For a homogeneous transform sequence (K×K× N) returns a rotation matrix sequence (K-1×K-1×N).
• The validity of rotational part is not checked

See also

r2t, tr2rt, rt2tr

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