Function axis_angle_to_rot6d

motion_rep/rotation_transform.py:25–35

Convert 3d vector of axis-angle rotation to 6d rotation representation. Shape: - Input: :Torch:`(N, 3)` - Output: :Torch:`(N, 6)`

(angle_axis)

    return rot_mat
    
def axis_angle_to_rot6d(angle_axis):
    """Convert 3d vector of axis-angle rotation to 6d rotation representation.
    Shape:
        - Input: :Torch:`(N, 3)`
        - Output: :Torch:`(N, 6)`
    """
    rot_mat = tgm.angle_axis_to_rotation_matrix(angle_axis)  # 4x4 rotation matrix
    rot6d = rot_mat[:, :3, :2]
    rot6d = rot6d.reshape(-1, 6)

    return rot6d

def rot6d_to_axis_angle(rot6d):
    """Convert 6d rotation representation to 3d vector of axis-angle rotation.