def is_valid(matrix, atol=1e-3, name="rotation_matrix_2d_is_valid"):
r"""Determines if a matrix is a valid rotation matrix.
Determines if a matrix $$\mathbf{R}$$ is a valid rotation matrix by checking
that $$\mathbf{R}^T\mathbf{R} = \mathbf{I}$$ and $$\det(\mathbf{R}) = 1$$.
Note:
In the following, A1 to An are optional batch dimensions.
Args:
matrix: A tensor of shape `[A1, ..., An, 2, 2]`, where the last two
dimensions represent a 2d rotation matrix.
atol: The absolute tolerance parameter.
name: A name for this op that defaults to "rotation_matrix_2d_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.
"""
with tf.name_scope(name):
matrix = tf.convert_to_tensor(value=matrix)
shape.check_static(tensor=matrix,
tensor_name="matrix",
has_rank_greater_than=1,
has_dim_equals=((-2, 2), (-1, 2)))
return rotation_matrix_common.is_valid(matrix, atol)
def is_valid(matrix, atol=1e-3, name=None):
"""Determines if a matrix is a valid rotation matrix.
Note:
In the following, A1 to An are optional batch dimensions.
Args:
matrix: A tensor of shape `[A1, ..., An, 3,3]`, where the last two
dimensions represent a matrix.
atol: Absolute tolerance parameter.
name: A name for this op that defaults to "rotation_matrix_3d_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.
"""
with tf.compat.v1.name_scope(name, "rotation_matrix_3d_is_valid",
[matrix]):
matrix = tf.convert_to_tensor(value=matrix)
shape.check_static(tensor=matrix,
tensor_name="matrix",
has_rank_greater_than=1,
has_dim_equals=((-2, 3), (-1, 3)))
return rotation_matrix_common.is_valid(matrix, atol)