skshapes.morphing.rigid_motion.axis_angle_to_matrix

skshapes.morphing.rigid_motion.axis_angle_to_matrix(axis_angle)

Convert rotations given as axis/angle to rotation matrices.

Parameters:

axis_angle (Tensor) – Rotations given as a vector in axis angle form, as a tensor of shape (…, 3), where the magnitude is the angle turned anticlockwise in radians around the vector’s direction.

Returns:

Rotation matrices as tensor of shape (…, 3, 3).

Return type:

torch.Tensor