una-dinosauria bee31c48d3 Make some matrix conversion jittable (#898)
Summary:
Make sure the functions from `rotation_conversion` are jittable, and add some type hints.

Add tests to verify this is the case.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/898

Reviewed By: patricklabatut

Differential Revision: D31926103

Pulled By: bottler

fbshipit-source-id: bff6013c5ca2d452e37e631bd902f0674d5ca091
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