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transforms 3d convention fix

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Summary: Fixed the rotation matrices generated by the RotateAxisAngle class and updated the tests. Added documentation for Transforms3d to clarify the conventions.

Reviewed By: gkioxari

Differential Revision: D19912903

fbshipit-source-id: c64926ce4e1381b145811557c32b73663d6d92d1
This commit is contained in:
Nikhila Ravi
2020-02-19 10:31:10 -08:00
committed by Facebook Github Bot
parent bdc2bb578c
commit 8301163d24
4 changed files with 203 additions and 104 deletions
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2
tests/test_rotation_conversions.py
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@@ -8,6 +8,7 @@ import unittest
import torch
from pytorch3d.transforms.rotation_conversions import (
_axis_angle_rotation,
euler_angles_to_matrix,
matrix_to_euler_angles,
matrix_to_quaternion,
@@ -118,7 +119,6 @@ class TestRotationConversion(unittest.TestCase):
def test_to_euler(self):
"""mtx -> euler -> mtx"""
data = random_rotations(13, dtype=torch.float64)
for convention in self._all_euler_angle_conventions():
euler_angles = matrix_to_euler_angles(data, convention)
mdata = euler_angles_to_matrix(euler_angles, convention)