From e43ed8c76e0481383d86d5eb45c54c13da56b24e Mon Sep 17 00:00:00 2001
From: generatedunixname1417043136753450 <noreply+1417043136753450@fb.com>
Date: Sun, 22 Feb 2026 07:53:20 -0800
Subject: [PATCH] 
 fbcode/vision/fair/pytorch3d/pytorch3d/transforms/rotation_conversions.py

Reviewed By: bottler

Differential Revision: D93712828

fbshipit-source-id: 3465af450104bb1e5f491e3c0ee0259698cf8ceb
---
 pytorch3d/transforms/rotation_conversions.py | 27 ++++++++++----------
 1 file changed, 13 insertions(+), 14 deletions(-)

diff --git a/pytorch3d/transforms/rotation_conversions.py b/pytorch3d/transforms/rotation_conversions.py
index 95f0ff85..870ee086 100644
--- a/pytorch3d/transforms/rotation_conversions.py
+++ b/pytorch3d/transforms/rotation_conversions.py
@@ -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,
     )