tfg.geometry.transformation.axis_angle.from_quaternion

Converts a quaternion to an axis-angle representation.

tfg.geometry.transformation.axis_angle.from_quaternion(
    quaternion,
    name=None
)

Defined in geometry/transformation/axis_angle.py.

Note:

In the following, A1 to An are optional batch dimensions.

Args:

  • quaternion: A tensor of shape [A1, ..., An, 4], where the last dimension represents a normalized quaternion.
  • name: A name for this op that defaults to "axis_angle_from_quaternion".

Returns:

Tuple of two tensors of shape [A1, ..., An, 3] and [A1, ..., An, 1], where the first tensor represents the axis, and the second represents the angle. The resulting axis is a normalized vector.

Raises:

  • ValueError: If the shape of quaternion is not supported.