tfg.geometry.transformation.rotation_matrix_3d.from_axis_angle

Convert an axis-angle representation to a rotation matrix.

tfg.geometry.transformation.rotation_matrix_3d.from_axis_angle(
    axis,
    angle,
    name=None
)

Defined in geometry/transformation/rotation_matrix_3d.py.

Note:

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

Args:

  • 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".

Returns:

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

Raises:

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