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Deprecate so3_exponential_map

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Summary: Deprecate the `so3_exponential_map()` function in favor of its alias `so3_exp_map()`: this aligns with the naming of `so3_log_map()` and the recently introduced `se3_exp_map()` / `se3_log_map()` pair.

Reviewed By: bottler

Differential Revision: D29329966

fbshipit-source-id: b6f60b9e86b2995f70b1fbeb16f9feea05c55de9
This commit is contained in:
Patrick Labatut
2021-06-28 04:27:12 -07:00
committed by Facebook GitHub Bot
parent f593bfd3c2
commit 5284de6e97
11 changed files with 35 additions and 28 deletions
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4
tests/test_camera_conversions.py
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@@ -12,7 +12,7 @@ import numpy as np
import torch
from common_testing import TestCaseMixin, get_tests_dir
from pytorch3d.ops import eyes
from pytorch3d.transforms import so3_exponential_map, so3_log_map
from pytorch3d.transforms import so3_exp_map, so3_log_map
from pytorch3d.utils import (
cameras_from_opencv_projection,
opencv_from_cameras_projection,
@@ -33,7 +33,7 @@ def cv2_project_points(pts, rvec, tvec, camera_matrix):
"""
Reproduces the `cv2.projectPoints` function from OpenCV using PyTorch.
"""
R = so3_exponential_map(rvec)
R = so3_exp_map(rvec)
pts_proj_3d = (
camera_matrix.bmm(R.bmm(pts.permute(0, 2, 1)) + tvec[:, :, None])
).permute(0, 2, 1)