def test_basic_3d_rotation_axis_angle():
    a = np.sqrt(3.0) / 2.0
    b = 0.5
    # this is a rotation of -30 degrees about the x axis
    rotation_matrix = np.array([[1, 0, 0],
                                [0, a, b],
                                [0, -b, a]])
    rotation = Rotation(rotation_matrix)
    axis, angle = rotation.axis_and_angle_of_rotation()
    assert_allclose(axis, np.array([1, 0, 0]))
    assert_allclose((-30 * np.pi) / 180, angle)
dataset/ETHPy150Open menpo/menpo/menpo/transform/test/h_rotation_test.py/test_basic_3d_rotation_axis_angle/original