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tfg.geometry.transformation.rotation_matrix_3d.from_quaternion

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 of quaternion is not supported.