Function strip_symmetric

utils/general_utils.py:78–79

(sym)

    return uncertainty

def strip_symmetric(sym):
    return strip_lowerdiag(sym)

def build_rotation(r):
    norm = torch.sqrt(r[...,0]*r[...,0] + r[...,1]*r[...,1] + r[...,2]*r[...,2] + r[...,3]*r[...,3])