Function aa_to_rotmat

detrsmpl/utils/transforms.py:73–89

Convert axis_angle to rotation matrixs. Args: axis_angle (Union[torch.Tensor, numpy.ndarray]): input shape should be (..., 3). ndim of input is unlimited. Returns: Union[torch.Tensor, numpy.ndarray]: shape would be (..., 3, 3).

(
    axis_angle: Union[torch.Tensor, numpy.ndarray]
)

def aa_to_rotmat(
    axis_angle: Union[torch.Tensor, numpy.ndarray]
) -> Union[torch.Tensor, numpy.ndarray]:
    """
    Convert axis_angle to rotation matrixs.
    Args:
        axis_angle (Union[torch.Tensor, numpy.ndarray]): input shape
                should be (..., 3). ndim of input is unlimited.

    Returns:
        Union[torch.Tensor, numpy.ndarray]: shape would be (..., 3, 3).
    """
    if axis_angle.shape[-1] != 3:
        raise ValueError(
            f'Invalid input axis angles shape f{axis_angle.shape}.')
    t = Compose([axis_angle_to_matrix])
    return t(axis_angle)


def aa_to_quat(