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tfg.geometry.transformation.quaternion.from_rotation_matrix

Converts a rotation matrix representation to a quaternion.

tfg.geometry.transformation.quaternion.from_rotation_matrix(
    rotation_matrix,
    name=None
)

Defined in geometry/transformation/quaternion.py.

Warning:

This function is not smooth everywhere.

Note:

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

Args:

  • rotation_matrix: A tensor of shape [A1, ..., An, 3, 3], where the last two dimensions represent a rotation matrix.
  • name: A name for this op that defaults to "quaternion_from_rotation_matrix".

Returns:

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

Raises:

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