Function rot6d_to_rotmat

detrsmpl/utils/transforms.py:222–241

Convert rotation 6d representations to rotation matrixs. Args: rotation_6d (Union[torch.Tensor, numpy.ndarray]): input shape should be (..., 6). ndim of input is unlimited. Returns: Union[torch.Tensor, numpy.ndarray]: shape would be (..., 3, 3). [1] Zhou

(
    rotation_6d: Union[torch.Tensor, numpy.ndarray]
)

def rot6d_to_rotmat(
    rotation_6d: Union[torch.Tensor, numpy.ndarray]
) -> Union[torch.Tensor, numpy.ndarray]:
    """Convert rotation 6d representations to rotation matrixs.

    Args:
        rotation_6d (Union[torch.Tensor, numpy.ndarray]): input shape
                should be (..., 6). ndim of input is unlimited.
    Returns:
        Union[torch.Tensor, numpy.ndarray]: shape would be (..., 3, 3).

    [1] Zhou, Y., Barnes, C., Lu, J., Yang, J., & Li, H.
    On the Continuity of Rotation Representations in Neural Networks.
    IEEE Conference on Computer Vision and Pattern Recognition, 2019.
    Retrieved from http://arxiv.org/abs/1812.07035
    """
    if rotation_6d.shape[-1] != 6:
        raise ValueError(f'Invalid input rotation_6d f{rotation_6d.shape}.')
    t = Compose([rotation_6d_to_matrix])
    return t(rotation_6d)


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