title: Extract Euler Angles from 3x3 rotation matrix resulted in camera calibration process
body: <p>How we can extract the the three angles of orientation from the rotation matrix resulted in MATLAB extrinsic camera parameters. For example, if you given the following rotation matrix, </p>
  
  <pre><code>Rc_ext = [ -0.012785     0.999906    -0.004886
  
              0.982489     0.011654    -0.185957
  
             -0.185883     -0.007178   -0.982546 ]
  </code></pre>
  
  <p>Find the three angles of orientation (around x-axis,y-axis and z-axis)?</p>