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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: type_alias.TensorLike,
    name: str = 'rotation_matrix_3d_from_quaternion'
) -> tf.Tensor

Note:

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

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".

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

ValueError If the shape of quaternion is not supported.