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tfg.geometry.transformation.quaternion.between_two_vectors_3d

Computes quaternion over the shortest arc between two vectors.

tfg.geometry.transformation.quaternion.between_two_vectors_3d(
    vector1,
    vector2,
    name=None
)

Defined in geometry/transformation/quaternion.py.

Result quaternion describes shortest geodesic rotation from vector1 to vector2.

Note:

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

Args:

  • vector1: A tensor of shape [A1, ..., An, 3], where the last dimension represents the first vector.
  • vector2: A tensor of shape [A1, ..., An, 3], where the last dimension represents the second vector.
  • name: A name for this op that defaults to "quaternion_between_two_vectors_3d".

Returns:

A tensor of shape [A1, ..., An, 4], where the last dimension represents a normalized quaternion.

Raises:

  • ValueError: If the shape of vector1 or vector2 is not supported.