Determines if a matrix in K-dimensions is a valid rotation matrix.
tfg.geometry.transformation.rotation_matrix_common.is_valid(
matrix,
atol=0.001,
name=None
)
Defined in geometry/transformation/rotation_matrix_common.py.
Determines if a matrix
\(\mathbf{R}\)
is a valid rotation matrix by checking
that \(\mathbf{R}^T\mathbf{R} = \mathbf{I}\)
and \(\det(\mathbf{R}) = 1\)
.
Args:
matrix: A tensor of shape[A1, ..., An, K, K], where the last two dimensions represent a rotation matrix in K-dimensions.atol: The absolute tolerance parameter.name: A name for this op that defaults to "rotation_matrix_common_is_valid".
Returns:
A tensor of type bool and shape [A1, ..., An, 1] where False indicates
that the input is not a valid rotation matrix.