Function rot6d_to_quaternion

motion_rep/rotation_transform.py:112–120

Convert 6d rotation representation to 4d quaternion. Shape: - Input: :Torch:`(N, 4)` - Output: :Torch:`(N, 6)`

(rot6d)

    return axis_angle_to_rot6d(quaternion_to_axis_angle(quaternion))

def rot6d_to_quaternion(rot6d):
    """
    Convert 6d rotation representation to 4d quaternion.
    Shape:
        - Input: :Torch:`(N, 4)`
        - Output: :Torch:`(N, 6)`
    """

    return axis_angle_to_quaternion(rot6d_to_axis_angle(rot6d))