Convert a quaternion to a rotation matrix.
tfg.geometry.transformation.rotation_matrix_3d.from_quaternion(
quaternion,
name=None
)
Defined in geometry/transformation/rotation_matrix_3d.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 normalized quaternion.name
: A name for this op that defaults to "rotation_matrix_3d_from_quaternion".
Returns:
A tensor of shape [A1, ..., An, 3, 3]
, where the last two dimensions
represent a 3d rotation matrix.
Raises:
ValueError
: If the shape ofquaternion
is not supported.