Function build_scaling_rotation

utils/general_utils.py:102–111

(s, r)

    return R

def build_scaling_rotation(s, r):
    L = torch.zeros((s.shape[0], 3, 3), dtype=torch.float, device="cuda")
    R = build_rotation(r)

    L[:,0,0] = s[:,0]
    L[:,1,1] = s[:,1]
    L[:,2,2] = s[:,2]

    L = L @ R
    return L

def build_rotation_4d(l, r):
    l_norm = torch.norm(l, dim=-1, keepdim=True)