Summary:
# Background
There is an unstable error during training (it can happen after several minutes or after several hours).
The error is connected to `torch.det()` function in `_check_valid_rotation_matrix()`.
if I remove the function `torch.det()` in `_check_valid_rotation_matrix()` or remove the whole functions `_check_valid_rotation_matrix()` the error is disappeared (D29555876).
# Solution
Replace `torch.det()` with manual implementation for 3x3 matrix.
Reviewed By: patricklabatut
Differential Revision: D29655924
fbshipit-source-id: 41bde1119274a705ab849751ece28873d2c45155
