Pass se3_log_map in two pieces

Author: eigenvivek

diffdrr/pose.py

@@ -111,7 +111,9 @@ def convert(*args, parameterization, convention=None) -> RigidTransform:
         quaternion = rotation_10d_to_quaternion(rotation)
         return convert(quaternion, translation, parameterization="quaternion")
     elif parameterization == "se3_log_map":
-        matrix = se3_exp_map(args[0]).mT
+        rotation, translation = args
+        params = torch.concat([translation, rotation], axis=-1)
+        matrix = se3_exp_map(params).mT
     else:
         raise ValueError(f"Must be in {PARAMETERIZATIONS}, not {parameterization}")
 

notebooks/api/06_pose.ipynb

@@ -219,7 +219,9 @@
     "        quaternion = rotation_10d_to_quaternion(rotation)\n",
     "        return convert(quaternion, translation, parameterization=\"quaternion\")\n",
     "    elif parameterization == \"se3_log_map\":\n",
-    "        matrix = se3_exp_map(args[0]).mT\n",
+    "        rotation, translation = args\n",
+    "        params = torch.concat([translation, rotation], axis=-1)\n",
+    "        matrix = se3_exp_map(params).mT\n",
     "    else:\n",
     "        raise ValueError(f\"Must be in {PARAMETERIZATIONS}, not {parameterization}\")\n",
     "\n",