Summary: solve and lstsq have moved around in torch. Cope with both.
Reviewed By: patricklabatut
Differential Revision: D29302316
fbshipit-source-id: b34f0b923e90a357f20df359635929241eba6e74
Summary:
Improves so3 functions to make gradient computation stable:
- Instead of `torch.acos`, uses `acos_linear_extrapolation` which has finite gradients of reasonable magnitude for all inputs.
- Adds tests for the latter.
The tests of the finiteness of the gradient in `test_so3_exp_singularity`, `test_so3_exp_singularity`, `test_so3_cos_bound` would fail if the `so3` functions would call `torch.acos` instead of `acos_linear_extrapolation`.
Reviewed By: bottler
Differential Revision: D23326429
fbshipit-source-id: dc296abf2ae3ddfb3942c8146621491a9cb740ee
Summary:
Fixes the case where the rotation angle is exactly 0/PI.
Added a test for `so3_log_map(identity_matrix)`.
Reviewed By: nikhilaravi
Differential Revision: D21477078
fbshipit-source-id: adff804da97f6f0d4f50aa1f6904a34832cb8bfe
Summary: The shebang line `#!<path to interpreter>` is only required for Python scripts, so remove it on source files for class or function definitions. Additionally explicitly mark as executable the actual Python scripts in the codebase.
Reviewed By: nikhilaravi
Differential Revision: D20095778
fbshipit-source-id: d312599fba485e978a243292f88a180d71e1b55a
