423A35C7/pytorch3d
1
0
Fork 0
mirror of https://github.com/facebookresearch/pytorch3d.git synced 2025-12-21 14:50:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

formatting changes from black 22.3.0

Browse Source 
Summary:
Applies the black-fbsource codemod with the new build of pyfmt.

paintitblack

Reviewed By: lisroach

Differential Revision: D36324783

fbshipit-source-id: 280c09e88257e5e569ab729691165d8dedd767bc
This commit is contained in:
John Reese
2022-05-11 19:55:56 -07:00
committed by Facebook GitHub Bot
parent c21ba144e7
commit bef959c755
25 changed files with 39 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
pytorch3d/transforms/se3.py
View File

@@ -194,10 +194,10 @@ def _se3_V_matrix(
V = (
torch.eye(3, dtype=log_rotation.dtype, device=log_rotation.device)[None]
+ log_rotation_hat
* ((1 - torch.cos(rotation_angles)) / (rotation_angles ** 2))[:, None, None]
* ((1 - torch.cos(rotation_angles)) / (rotation_angles**2))[:, None, None]
+ (
log_rotation_hat_square
* ((rotation_angles - torch.sin(rotation_angles)) / (rotation_angles ** 3))[
* ((rotation_angles - torch.sin(rotation_angles)) / (rotation_angles**3))[
:, None, None
]
)
@@ -211,7 +211,7 @@ def _get_se3_V_input(log_rotation: torch.Tensor, eps: float = 1e-4):
A helper function that computes the input variables to the `_se3_V_matrix`
function.
"""
nrms = (log_rotation ** 2).sum(-1)
nrms = (log_rotation**2).sum(-1)
rotation_angles = torch.clamp(nrms, eps).sqrt()
log_rotation_hat = hat(log_rotation)
log_rotation_hat_square = torch.bmm(log_rotation_hat, log_rotation_hat)