work with old linalg

Summary: solve and lstsq have moved around in torch. Cope with both.

Reviewed By: patricklabatut

Differential Revision: D29302316

fbshipit-source-id: b34f0b923e90a357f20df359635929241eba6e74

tests/test_se3.py

@@ -10,13 +10,10 @@ import unittest
 import numpy as np
 import torch
 from common_testing import TestCaseMixin
+from pytorch3d.common.compat import qr
 from pytorch3d.transforms.rotation_conversions import random_rotations
 from pytorch3d.transforms.se3 import se3_exp_map, se3_log_map
-from pytorch3d.transforms.so3 import (
-    so3_exp_map,
-    so3_log_map,
-    so3_rotation_angle,
-)
+from pytorch3d.transforms.so3 import so3_exp_map, so3_log_map, so3_rotation_angle
 
 
 class TestSE3(TestCaseMixin, unittest.TestCase):
@@ -201,7 +198,7 @@ class TestSE3(TestCaseMixin, unittest.TestCase):
         r = [identity, rot180]
         r.extend(
             [
-                torch.qr(identity + torch.randn_like(identity) * 1e-6)[0]
+                qr(identity + torch.randn_like(identity) * 1e-6)[0]
                 + float(i > batch_size // 2) * (0.5 - torch.rand_like(identity)) * 1e-8
                 # this adds random noise to the second half
                 # of the random orthogonal matrices to generate