Revert to pytorch3d

eigenvivek · Jan 10, 2024 · ec95cee · ec95cee
1 parent 6831c49
commit ec95cee
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/diffdrr/utils.py b/diffdrr/utils.py
@@ -98,8 +98,8 @@ def convert(
     euler_angles_to_matrix,
     quaternion_to_matrix,
     rotation_6d_to_matrix,
+    so3_exp_map,
 )
-from pytorchse3.so3 import so3_exp_map
 
 
 def _convert_to_rotation_matrix(rotation, parameterization, convention, **kwargs):
@@ -132,8 +132,8 @@ def _convert_to_rotation_matrix(rotation, parameterization, convention, **kwargs
     matrix_to_euler_angles,
     matrix_to_quaternion,
     matrix_to_rotation_6d,
+    so3_log_map,
 )
-from pytorchse3.so3 import so3_log_map
 
 
 def _convert_from_rotation_matrix(matrix, parameterization, convention=None, **kwargs):

diff --git a/notebooks/api/06_utils.ipynb b/notebooks/api/06_utils.ipynb
@@ -110,6 +110,7 @@
     "    A = _10vec_to_4x4symmetric(rotation)  # A is a symmetric data matrix\n",
     "    return torch.linalg.eigh(A).eigenvectors[..., 0]\n",
     "\n",
+    "\n",
     "def quaternion_to_rotation_10d(q: torch.Tensor) -> torch.Tensor:\n",
     "    A = -torch.einsum(\"bi, bj -> bij\", q, q)\n",
     "    idx, jdx = torch.triu_indices(4, 4)\n",
@@ -190,8 +191,8 @@
     "    euler_angles_to_matrix,\n",
     "    quaternion_to_matrix,\n",
     "    rotation_6d_to_matrix,\n",
+    "    so3_exp_map,\n",
     ")\n",
-    "from pytorchse3.so3 import so3_exp_map\n",
     "\n",
     "\n",
     "def _convert_to_rotation_matrix(rotation, parameterization, convention, **kwargs):\n",
@@ -232,8 +233,8 @@
     "    matrix_to_euler_angles,\n",
     "    matrix_to_quaternion,\n",
     "    matrix_to_rotation_6d,\n",
+    "    so3_log_map,\n",
     ")\n",
-    "from pytorchse3.so3 import so3_log_map\n",
     "\n",
     "\n",
     "def _convert_from_rotation_matrix(matrix, parameterization, convention=None, **kwargs):\n",