tfg.geometry.transformation.rotation_matrix_3d.assert_rotation_matrix_normalized

Checks whether a matrix is a rotation matrix.

tfg.geometry.transformation.rotation_matrix_3d.assert_rotation_matrix_normalized(
    matrix,
    eps=0.001,
    name=None
)

Defined in geometry/transformation/rotation_matrix_3d.py.

Note:

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

Args:

  • matrix: A tensor of shape [A1, ..., An, 3, 3], where the last two dimensions represent a 3d rotation matrix.
  • eps: The absolute tolerance parameter.
  • name: A name for this op that defaults to 'assert_rotation_matrix_normalized'.

Returns:

The input matrix, with dependence on the assertion operator in the graph.

Raises:

  • tf.errors.InvalidArgumentError: If rotation_matrix_3d is not normalized.