Undo pytorch3d transpose convention

eigenvivek · Dec 5, 2023 · 4dda5a2 · 4dda5a2
1 parent 12f8ee8
commit 4dda5a2
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Showing 2 changed files with 10 additions and 6 deletions.
diff --git a/diffpose/calibration.py b/diffpose/calibration.py
@@ -91,8 +91,8 @@ def convert(
         transform = torch.concat([*transform], axis=-1)
         matrix = se3_exp_map(transform)
         transform = RigidTransform(
-            R=matrix[..., :3, :3].transpose(-1, -2),
-            t=matrix[..., 3, :3],
+            R=matrix[..., :3, :3],
+            t=matrix[..., :3, 3],
             device=matrix.device,
             dtype=matrix.dtype,
         )
@@ -111,7 +111,9 @@ def convert(
         return transform
     elif output_parameterization == "se3_log_map":
         se3_log = transform.get_se3_log()
-        return se3_log[..., :3], se3_log[..., 3:]
+        log_R_vee = se3_log[..., :3]
+        log_t_vee = se3_log[..., 3:]
+        return log_R_vee, log_t_vee
     else:
         return (
             transform.get_rotation(output_parameterization, output_convention),

diff --git a/notebooks/api/02_calibration.ipynb b/notebooks/api/02_calibration.ipynb
@@ -194,8 +194,8 @@
     "        transform = torch.concat([*transform], axis=-1)\n",
     "        matrix = se3_exp_map(transform)\n",
     "        transform = RigidTransform(\n",
-    "            R=matrix[..., :3, :3].transpose(-1, -2),\n",
-    "            t=matrix[..., 3, :3],\n",
+    "            R=matrix[..., :3, :3],\n",
+    "            t=matrix[..., :3, 3],\n",
     "            device=matrix.device,\n",
     "            dtype=matrix.dtype,\n",
     "        )\n",
@@ -214,7 +214,9 @@
     "        return transform\n",
     "    elif output_parameterization == \"se3_log_map\":\n",
     "        se3_log = transform.get_se3_log()\n",
-    "        return se3_log[..., :3], se3_log[..., 3:]\n",
+    "        log_R_vee = se3_log[..., :3]\n",
+    "        log_t_vee = se3_log[..., 3:]\n",
+    "        return log_R_vee, log_t_vee\n",
     "    else:\n",
     "        return (\n",
     "            transform.get_rotation(output_parameterization, output_convention),\n",