tfg.geometry.transformation.quaternion.from_rotation_matrix

Converts a rotation matrix representation to a quaternion.

tfg.geometry.transformation.quaternion.from_rotation_matrix(
    rotation_matrix: type_alias.TensorLike,
    name: str = 'quaternion_from_rotation_matrix'
) -> tf.Tensor

Warning
This function is not smooth everywhere.

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

Args
rotation_matrix	A tensor of shape [A1, ..., An, 3, 3], where the last two dimensions represent a rotation matrix.
name	A name for this op that defaults to "quaternion_from_rotation_matrix".

Returns
A tensor of shape [A1, ..., An, 4], where the last dimension represents a normalized quaternion.

Raises
ValueError	If the shape of rotation_matrix is not supported.