Function rotmat_to_aa

detrsmpl/utils/transforms.py:351–368

Convert rotation matrixs to axis angles. Args: matrix (Union[torch.Tensor, numpy.ndarray]): input shape should be (..., 3, 3). ndim of input is unlimited. convention (str, optional): Convention string of three letters from {“x”, “y”, and “z”}. Def

(
        matrix: Union[torch.Tensor, numpy.ndarray],
        convention: str = 'xyz')

def rotmat_to_aa(
        matrix: Union[torch.Tensor, numpy.ndarray],
        convention: str = 'xyz') -> Union[torch.Tensor, numpy.ndarray]:
    """Convert rotation matrixs to axis angles.

    Args:
        matrix (Union[torch.Tensor, numpy.ndarray]): input shape
                should be (..., 3, 3). ndim of input is unlimited.
        convention (str, optional): Convention string of three letters
                from {“x”, “y”, and “z”}. Defaults to 'xyz'.

    Returns:
        Union[torch.Tensor, numpy.ndarray]: shape would be (..., 3).
    """
    if matrix.shape[-1] != 3 or matrix.shape[-2] != 3:
        raise ValueError(f'Invalid rotation matrix  shape f{matrix.shape}.')
    t = Compose([matrix_to_quaternion, quaternion_to_axis_angle])
    return t(matrix)


def quat_to_ee(quaternions: Union[torch.Tensor, numpy.ndarray],