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fbcode/vision/fair/pytorch3d/pytorch3d/transforms/rotation_conversions.py

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Reviewed By: bottler

Differential Revision: D93712828

fbshipit-source-id: 3465af450104bb1e5f491e3c0ee0259698cf8ceb
This commit is contained in:
generatedunixname1417043136753450
2026-02-22 07:53:20 -08:00
committed by meta-codesync[bot]
parent 49f43402c6
commit e43ed8c76e
1 changed files with 13 additions and 14 deletions
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27
pytorch3d/transforms/rotation_conversions.py
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@@ -52,8 +52,7 @@ def quaternion_to_matrix(quaternions: torch.Tensor) -> torch.Tensor:
Rotation matrices as tensor of shape (..., 3, 3).
"""
r, i, j, k = torch.unbind(quaternions, -1)
# pyre-fixme[58]: `/` is not supported for operand types `float` and `Tensor`.
two_s = 2.0 / (quaternions * quaternions).sum(-1)
two_s = torch.div(2.0, (quaternions * quaternions).sum(-1))
o = torch.stack(
(
@@ -137,18 +136,18 @@ def matrix_to_quaternion(matrix: torch.Tensor) -> torch.Tensor:
# we produce the desired quaternion multiplied by each of r, i, j, k
quat_by_rijk = torch.stack(
[
# pyre-fixme[58]: `**` is not supported for operand types `Tensor` and
# `int`.
torch.stack([q_abs[..., 0] ** 2, m21 - m12, m02 - m20, m10 - m01], dim=-1),
# pyre-fixme[58]: `**` is not supported for operand types `Tensor` and
# `int`.
torch.stack([m21 - m12, q_abs[..., 1] ** 2, m10 + m01, m02 + m20], dim=-1),
# pyre-fixme[58]: `**` is not supported for operand types `Tensor` and
# `int`.
torch.stack([m02 - m20, m10 + m01, q_abs[..., 2] ** 2, m12 + m21], dim=-1),
# pyre-fixme[58]: `**` is not supported for operand types `Tensor` and
# `int`.
torch.stack([m10 - m01, m20 + m02, m21 + m12, q_abs[..., 3] ** 2], dim=-1),
torch.stack(
[torch.square(q_abs[..., 0]), m21 - m12, m02 - m20, m10 - m01], dim=-1
),
torch.stack(
[m21 - m12, torch.square(q_abs[..., 1]), m10 + m01, m02 + m20], dim=-1
),
torch.stack(
[m02 - m20, m10 + m01, torch.square(q_abs[..., 2]), m12 + m21], dim=-1
),
torch.stack(
[m10 - m01, m20 + m02, m21 + m12, torch.square(q_abs[..., 3])], dim=-1
),
],
dim=-2,
)