Frame to angles

Converts the rotation matrix of a coordinate frame into Tait–Bryan angles. Assume that the X-axis points right, Y-axis points down and Z-axis points away from the XY-plane. pitch means rotation about X-axis, yaw means rotation about Y-axis, roll means rotation about Z-axis. These terms originate from aerospace nomenclature.

Inputs

• frame: A coordinate frame which has a valid rotation.

Outputs

• rotationAngles: A 1-by-3 matrix containing rotation angles of the camera line about Z (roll), Y (yaw) and X (pitch) axes in degrees.