Adds typing information to math/math_helpers and math/vector.

tensorflow_graphics/geometry/transformation/linear_blend_skinning.py

@@ -22,13 +22,14 @@
 from tensorflow_graphics.geometry.transformation import rotation_matrix_3d
 from tensorflow_graphics.util import export_api
 from tensorflow_graphics.util import shape
+from tensorflow_graphics.util import type_alias
 
 
-def blend(points,
-          skinning_weights,
-          bone_rotations,
-          bone_translations,
-          name="linear_blend_skinning_blend"):
+def blend(points: type_alias.TensorLike,
+          skinning_weights: type_alias.TensorLike,
+          bone_rotations: type_alias.TensorLike,
+          bone_translations: type_alias.TensorLike,
+          name: str = "linear_blend_skinning_blend") -> tf.Tensor:
   """Transforms the points using Linear Blend Skinning.
 
   Note:

tensorflow_graphics/geometry/transformation/look_at.py

@@ -22,9 +22,12 @@
 from tensorflow_graphics.math import vector
 from tensorflow_graphics.util import export_api
 from tensorflow_graphics.util import shape
+from tensorflow_graphics.util import type_alias
 
 
-def right_handed(camera_position, look_at, up_vector, name="right_handed"):
+def right_handed(camera_position: type_alias.TensorLike,
+                 look_at, up_vector: type_alias.TensorLike,
+                 name: str = "right_handed") -> tf.Tensor:
   """Builds a right handed look at view matrix.
 
   Note:

tensorflow_graphics/geometry/transformation/quaternion.py

@@ -30,6 +30,8 @@
 from __future__ import division
 from __future__ import print_function
 
+from typing import List
+
 from six.moves import range
 import tensorflow as tf
 
@@ -39,9 +41,12 @@
 from tensorflow_graphics.util import export_api
 from tensorflow_graphics.util import safe_ops
 from tensorflow_graphics.util import shape
+from tensorflow_graphics.util import type_alias
 
 
-def _build_quaternion_from_sines_and_cosines(sin_half_angles, cos_half_angles):
+def _build_quaternion_from_sines_and_cosines(
+    sin_half_angles: type_alias.TensorLike,
+    cos_half_angles: type_alias.TensorLike) -> tf.Tensor:
   """Builds a quaternion from sines and cosines of half Euler angles.
 
   Note:
@@ -66,9 +71,10 @@ def _build_quaternion_from_sines_and_cosines(sin_half_angles, cos_half_angles):
   return tf.stack((x, y, z, w), axis=-1)
 
 
-def between_two_vectors_3d(vector1,
-                           vector2,
-                           name="quaternion_between_two_vectors_3d"):
+def between_two_vectors_3d(vector1: type_alias.TensorLike,
+                           vector2: type_alias.TensorLike,
+                           name: str = "quaternion_between_two_vectors_3d"
+                           ) -> tf.Tensor:
   """Computes quaternion over the shortest arc between two vectors.
 
   Result quaternion describes shortest geodesic rotation from
@@ -129,7 +135,8 @@ def between_two_vectors_3d(vector1,
     return tf.nn.l2_normalize(rot, axis=-1)
 
 
-def conjugate(quaternion, name="quaternion_conjugate"):
+def conjugate(quaternion: type_alias.TensorLike,
+              name: str = "quaternion_conjugate") -> tf.Tensor:
   """Computes the conjugate of a quaternion.
 
   Note:
@@ -157,7 +164,10 @@ def conjugate(quaternion, name="quaternion_conjugate"):
     return tf.concat((-xyz, w), axis=-1)
 
 
-def from_axis_angle(axis, angle, name="quaternion_from_axis_angle"):
+def from_axis_angle(axis: type_alias.TensorLike,
+                    angle: type_alias.TensorLike,
+                    name: str = "quaternion_from_axis_angle"
+                    ) -> tf.Tensor:
   """Converts an axis-angle representation to a quaternion.
 
   Note:
@@ -194,7 +204,9 @@ def from_axis_angle(axis, angle, name="quaternion_from_axis_angle"):
     return tf.concat((xyz, w), axis=-1)
 
 
-def from_euler(angles, name="quaternion_from_euler"):
+def from_euler(angles: type_alias.TensorLike,
+               name: str = "quaternion_from_euler"
+               ) -> tf.Tensor:
   """Converts an Euler angle representation to a quaternion.
 
   Note:
@@ -230,8 +242,9 @@ def from_euler(angles, name="quaternion_from_euler"):
                                                     cos_half_angles)
 
 
-def from_euler_with_small_angles_approximation(angles,
-                                               name="quaternion_from_euler"):
+def from_euler_with_small_angles_approximation(
+    angles: type_alias.TensorLike,
+    name: str = "quaternion_from_euler") -> tf.Tensor:
   r"""Converts small Euler angles to quaternions.
 
   Under the small angle assumption, $$\sin(x)$$ and $$\cos(x)$$ can be
@@ -274,8 +287,9 @@ def from_euler_with_small_angles_approximation(angles,
     return tf.nn.l2_normalize(quaternion, axis=-1)
 
 
-def from_rotation_matrix(rotation_matrix,
-                         name="quaternion_from_rotation_matrix"):
+def from_rotation_matrix(rotation_matrix: type_alias.TensorLike,
+                         name: str = "quaternion_from_rotation_matrix"
+                         ) -> tf.Tensor:
   """Converts a rotation matrix representation to a quaternion.
 
   Warning:
@@ -361,7 +375,9 @@ def cond_idx(cond):
     return quat
 
 
-def inverse(quaternion, name="quaternion_inverse"):
+def inverse(quaternion: type_alias.TensorLike,
+            name: str = "quaternion_inverse"
+            ) -> tf.Tensor:
   """Computes the inverse of a quaternion.
 
   Note:
@@ -391,7 +407,10 @@ def inverse(quaternion, name="quaternion_inverse"):
     return safe_ops.safe_unsigned_div(conjugate(quaternion), squared_norm)
 
 
-def is_normalized(quaternion, atol=1e-3, name="quaternion_is_normalized"):
+def is_normalized(quaternion: type_alias.TensorLike,
+                  atol: type_alias.Float = 1e-3,
+                  name: str = "quaternion_is_normalized"
+                  ) -> tf.Tensor:
   """Determines if quaternion is normalized quaternion or not.
 
   Note:
@@ -422,7 +441,10 @@ def is_normalized(quaternion, atol=1e-3, name="quaternion_is_normalized"):
         tf.zeros_like(norms, dtype=bool))
 
 
-def normalize(quaternion, eps=1e-12, name="quaternion_normalize"):
+def normalize(quaternion: type_alias.TensorLike,
+              eps: type_alias.Float = 1e-12,
+              name: str = "quaternion_normalize"
+              ) -> tf.Tensor:
   """Normalizes a quaternion.
 
   Note:
@@ -450,7 +472,10 @@ def normalize(quaternion, eps=1e-12, name="quaternion_normalize"):
     return tf.math.l2_normalize(quaternion, axis=-1, epsilon=eps)
 
 
-def multiply(quaternion1, quaternion2, name="quaternion_multiply"):
+def multiply(quaternion1: type_alias.TensorLike,
+             quaternion2: type_alias.TensorLike,
+             name: str = "quaternion_multiply"
+             ) -> tf.Tensor:
   """Multiplies two quaternions.
 
   Note:
@@ -487,8 +512,9 @@ def multiply(quaternion1, quaternion2, name="quaternion_multiply"):
     return tf.stack((x, y, z, w), axis=-1)
 
 
-def normalized_random_uniform(quaternion_shape,
-                              name="quaternion_normalized_random_uniform"):
+def normalized_random_uniform(quaternion_shape: List[int],
+                              name: str = "quaternion_normalized_random_uniform"
+                              ) -> tf.Tensor:
   """Random normalized quaternion following a uniform distribution law on SO(3).
 
   Args:
@@ -545,7 +571,10 @@ def _initializer(shape, dtype=tf.float32, partition_info=None):
   # pylint: enable=redefined-outer-name
 
 
-def rotate(point, quaternion, name="quaternion_rotate"):
+def rotate(point: type_alias.TensorLike,
+           quaternion: type_alias.TensorLike,
+           name: str = "quaternion_rotate"
+           ) -> tf.Tensor:
   """Rotates a point using a quaternion.
 
   Note:
@@ -586,7 +615,10 @@ def rotate(point, quaternion, name="quaternion_rotate"):
     return xyz
 
 
-def relative_angle(quaternion1, quaternion2, name="quaternion_relative_angle"):
+def relative_angle(quaternion1: type_alias.TensorLike,
+                   quaternion2: type_alias.TensorLike,
+                   name: str = "quaternion_relative_angle"
+                   ) -> tf.Tensor:
   r"""Computes the unsigned relative rotation angle between 2 unit quaternions.
 
   Given two normalized quanternions $$\mathbf{q}_1$$ and $$\mathbf{q}_2$$, the

tensorflow_graphics/geometry/transformation/rotation_matrix_2d.py

@@ -39,9 +39,11 @@
 from tensorflow_graphics.geometry.transformation import rotation_matrix_common
 from tensorflow_graphics.util import export_api
 from tensorflow_graphics.util import shape
+from tensorflow_graphics.util import type_alias
 
 
-def from_euler(angle, name="rotation_matrix_2d_from_euler_angle"):
+def from_euler(angle: type_alias.TensorLike,
+               name: str = "rotation_matrix_2d_from_euler_angle") -> tf.Tensor:
   r"""Converts an angle to a 2d rotation matrix.
 
   Converts an angle $$\theta$$ to a 2d rotation matrix following the equation
@@ -89,8 +91,9 @@ def from_euler(angle, name="rotation_matrix_2d_from_euler_angle"):
 
 
 def from_euler_with_small_angles_approximation(
-    angles,
-    name="rotation_matrix_2d_from_euler_with_small_angles_approximation"):
+    angles: type_alias.TensorLike,
+    name: str = "rotation_matrix_2d_from_euler_with_small_angles_approximation"
+) -> tf.Tensor:
   r"""Converts an angle to a 2d rotation matrix under the small angle assumption.
 
   Under the small angle assumption, $$\sin(x)$$ and $$\cos(x)$$ can be
@@ -142,7 +145,8 @@ def from_euler_with_small_angles_approximation(
     return tf.reshape(matrix, shape=output_shape)
 
 
-def inverse(matrix, name="rotation_matrix_2d_inverse"):
+def inverse(matrix: type_alias.TensorLike,
+            name: str = "rotation_matrix_2d_inverse") -> tf.Tensor:
   """Computes the inverse of a 2D rotation matrix.
 
   Note:
@@ -174,7 +178,9 @@ def inverse(matrix, name="rotation_matrix_2d_inverse"):
     return tf.transpose(a=matrix, perm=perm)
 
 
-def is_valid(matrix, atol=1e-3, name="rotation_matrix_2d_is_valid"):
+def is_valid(matrix: type_alias.TensorLike,
+             atol: type_alias.Float = 1e-3,
+             name: str = "rotation_matrix_2d_is_valid") -> tf.Tensor:
   r"""Determines if a matrix is a valid rotation matrix.
 
   Determines if a matrix $$\mathbf{R}$$ is a valid rotation matrix by checking
@@ -205,7 +211,9 @@ def is_valid(matrix, atol=1e-3, name="rotation_matrix_2d_is_valid"):
     return rotation_matrix_common.is_valid(matrix, atol)
 
 
-def rotate(point, matrix, name="rotation_matrix_2d_rotate"):
+def rotate(point: type_alias.TensorLike,
+           matrix: type_alias.TensorLike,
+           name: str = "rotation_matrix_2d_rotate") -> tf.Tensor:
   """Rotates a 2d point using a 2d rotation matrix.
 
   Note:

tensorflow_graphics/geometry/transformation/rotation_matrix_3d.py

@@ -30,11 +30,14 @@
 from tensorflow_graphics.util import export_api
 from tensorflow_graphics.util import shape
 from tensorflow_graphics.util import tfg_flags
+from tensorflow_graphics.util import type_alias
 
 FLAGS = flags.FLAGS
 
 
-def _build_matrix_from_sines_and_cosines(sin_angles, cos_angles):
+def _build_matrix_from_sines_and_cosines(
+    sin_angles: type_alias.TensorLike,
+    cos_angles: type_alias.TensorLike) -> tf.Tensor:
   """Builds a rotation matrix from sines and cosines of Euler angles.
 
   Note:
@@ -71,9 +74,10 @@ def _build_matrix_from_sines_and_cosines(sin_angles, cos_angles):
   return tf.reshape(matrix, shape=output_shape)
 
 
-def assert_rotation_matrix_normalized(matrix,
-                                      eps=1e-3,
-                                      name="assert_rotation_matrix_normalized"):
+def assert_rotation_matrix_normalized(
+    matrix: type_alias.TensorLike,
+    eps: type_alias.Float = 1e-3,
+    name: str = "assert_rotation_matrix_normalized") -> tf.Tensor:
   """Checks whether a matrix is a rotation matrix.
 
   Note:
@@ -113,7 +117,10 @@ def assert_rotation_matrix_normalized(matrix,
       return tf.identity(matrix)
 
 
-def from_axis_angle(axis, angle, name="rotation_matrix_3d_from_axis_angle"):
+def from_axis_angle(
+    axis: type_alias.TensorLike,
+    angle: type_alias.TensorLike,
+    name: str = "rotation_matrix_3d_from_axis_angle") -> tf.Tensor:
   """Convert an axis-angle representation to a rotation matrix.
 
   Note:
@@ -174,7 +181,8 @@ def from_axis_angle(axis, angle, name="rotation_matrix_3d_from_axis_angle"):
     return tf.reshape(matrix, shape=output_shape)
 
 
-def from_euler(angles, name="rotation_matrix_3d_from_euler"):
+def from_euler(angles: type_alias.TensorLike,
+               name: str = "rotation_matrix_3d_from_euler") -> tf.Tensor:
   r"""Convert an Euler angle representation to a rotation matrix.
 
   The resulting matrix is $$\mathbf{R} = \mathbf{R}_z\mathbf{R}_y\mathbf{R}_x$$.
@@ -208,7 +216,8 @@ def from_euler(angles, name="rotation_matrix_3d_from_euler"):
 
 
 def from_euler_with_small_angles_approximation(
-    angles, name="rotation_matrix_3d_from_euler_with_small_angles"):
+    angles: type_alias.TensorLike,
+    name: str = "rotation_matrix_3d_from_euler_with_small_angles") -> tf.Tensor:
   r"""Convert an Euler angle representation to a rotation matrix.
 
   The resulting matrix is $$\mathbf{R} = \mathbf{R}_z\mathbf{R}_y\mathbf{R}_x$$.
@@ -246,7 +255,9 @@ def from_euler_with_small_angles_approximation(
     return _build_matrix_from_sines_and_cosines(sin_angles, cos_angles)
 
 
-def from_quaternion(quaternion, name="rotation_matrix_3d_from_quaternion"):
+def from_quaternion(
+    quaternion: type_alias.TensorLike,
+    name: str = "rotation_matrix_3d_from_quaternion") -> tf.Tensor:
   """Convert a quaternion to a rotation matrix.
 
   Note:
@@ -293,7 +304,8 @@ def from_quaternion(quaternion, name="rotation_matrix_3d_from_quaternion"):
     return tf.reshape(matrix, shape=output_shape)
 
 
-def inverse(matrix, name="rotation_matrix_3d_inverse"):
+def inverse(matrix: type_alias.TensorLike,
+            name: str = "rotation_matrix_3d_inverse") -> tf.Tensor:
   """Computes the inverse of a 3D rotation matrix.
 
   Note:
@@ -326,7 +338,9 @@ def inverse(matrix, name="rotation_matrix_3d_inverse"):
     return tf.transpose(a=matrix, perm=perm)
 
 
-def is_valid(matrix, atol=1e-3, name="rotation_matrix_3d_is_valid"):
+def is_valid(matrix: type_alias.TensorLike,
+             atol: type_alias.Float = 1e-3,
+             name: str = "rotation_matrix_3d_is_valid") -> tf.Tensor:
   """Determines if a matrix is a valid rotation matrix.
 
   Note:
@@ -354,7 +368,9 @@ def is_valid(matrix, atol=1e-3, name="rotation_matrix_3d_is_valid"):
     return rotation_matrix_common.is_valid(matrix, atol)
 
 
-def rotate(point, matrix, name="rotation_matrix_3d_rotate"):
+def rotate(point: type_alias.TensorLike,
+           matrix: type_alias.TensorLike,
+           name: str = "rotation_matrix_3d_rotate") -> tf.Tensor:
   """Rotate a point using a rotation matrix 3d.
 
   Note:

tensorflow_graphics/geometry/transformation/rotation_matrix_common.py

@@ -22,9 +22,12 @@
 
 from tensorflow_graphics.util import export_api
 from tensorflow_graphics.util import shape
+from tensorflow_graphics.util import type_alias
 
 
-def is_valid(matrix, atol=1e-3, name="rotation_matrix_common_is_valid"):
+def is_valid(matrix: type_alias.TensorLike,
+             atol: type_alias.Float = 1e-3,
+             name: str = "rotation_matrix_common_is_valid") -> tf.Tensor:
   r"""Determines if a matrix in K-dimensions is a valid rotation matrix.
 
   Determines if a matrix $$\mathbf{R}$$ is a valid rotation matrix by checking