Function bgs

src/shape_assembly/utils.py:37–43

(d6s)

    return np.mean(theta)

def bgs(d6s):
    bsz = d6s.shape[0]
    b1 = F.normalize(d6s[:, :, 0], p=2, dim=1)
    a2 = d6s[:, :, 1]
    b2 = F.normalize(a2 - torch.bmm(b1.view(bsz, 1, -1), a2.view(bsz, -1, 1)).view(bsz, 1) * b1, p=2, dim=1)
    b3 = torch.cross(b1, b2, dim=1)
    return torch.stack([b1, b2, b3], dim=1).permute(0, 2, 1)


def bgdR(Rgts, Rps):