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Remove pytorch3d's wrappers for eigh, solve, lstsq, qr

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Summary: Remove the compat functions eigh, solve, lstsq, and qr. Migrate callers to use torch.linalg directly.

Reviewed By: bottler

Differential Revision: D39172949

fbshipit-source-id: 484230a553237808f06ee5cdfde64651cba91c4c
This commit is contained in:
Chris Lambert
2022-08-31 13:04:07 -07:00
committed by Facebook GitHub Bot
parent 9a1213e0e5
commit d4a1051e0f
9 changed files with 11 additions and 67 deletions
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pytorch3d/transforms/se3.py
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@@ -5,7 +5,6 @@
# LICENSE file in the root directory of this source tree.
import torch
from pytorch3d.common.compat import solve
from .so3 import _so3_exp_map, hat, so3_log_map
@@ -174,7 +173,7 @@ def se3_log_map(
# log_translation is V^-1 @ T
T = transform[:, 3, :3]
V = _se3_V_matrix(*_get_se3_V_input(log_rotation), eps=eps)
log_translation = solve(V, T[:, :, None])[:, :, 0]
log_translation = torch.linalg.solve(V, T[:, :, None])[:, :, 0]
return torch.cat((log_translation, log_rotation), dim=1)