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tfg.geometry.transformation.rotation_matrix_3d.rotate

Rotate a point using a rotation matrix 3d.

tfg.geometry.transformation.rotation_matrix_3d.rotate(
    point,
    matrix,
    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:

  • point: A tensor of shape [A1, ..., An, 3], where the last dimension represents a 3d point.
  • matrix: A tensor of shape [A1, ..., An, 3,3], where the last dimension represents a 3d rotation matrix.
  • name: A name for this op that defaults to "rotation_matrix_3d_rotate".

Returns:

A tensor of shape [A1, ..., An, 3], where the last dimension represents a 3d point.

Raises:

  • ValueError: If the shape of point or rotation_matrix_3d is not supported.