tfg.geometry.transformation.rotation_matrix_3d.from_axis_angle

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Convert an axis-angle representation to a rotation matrix.

Note:

In the following, A1 to An are optional batch dimensions, which must be broadcast compatible.

axis A tensor of shape [A1, ..., An, 3], where the last dimension represents a normalized axis.
angle A tensor of shape [A1, ..., An, 1], where the last dimension represents a normalized axis.
name A name for this op that defaults to "rotation_matrix_3d_from_axis_angle".

A tensor of shape [A1, ..., An, 3, 3], where the last two dimensions represents a 3d rotation matrix.

ValueError If the shape of axis or angle is not supported.