%% Extract Euler Angles from Homogeneous Transformation Matrix Using ZYZ Rotation

tform = [1 0 0 0.5; 0 -1 0 5; 0 0 -1 -1.2; 0 0 0 1];
eulZYZ = tform2eul(tform,'ZYZ')

% Copyright 2019 The MathWorks, Inc.