tfg.geometry.transformation.quaternion.normalize

Normalizes a quaternion.

tfg.geometry.transformation.quaternion.normalize(
    quaternion,
    eps=1e-12,
    name=None
)

Defined in geometry/transformation/quaternion.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 quaternion.
  • eps: A lower bound value for the norm that defaults to 1e-12.
  • name: A name for this op that defaults to "quaternion_normalize".

Returns:

A N-D tensor of shape [?, ..., ?, 1] where the quaternion elements have been normalized.

Raises:

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