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Clamp matrices in matrix_to_euler_angles function #1989

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Clamp matrices in matrix_to_euler_angles function #1989

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e87a608
Clamp matrices in matrix_to_euler_angles function
StoneT2000 Jul 9, 2025
91871cf
add tolerance
StoneT2000 Jul 9, 2025
4a86318
remove eps
StoneT2000 Jul 9, 2025
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5 changes: 3 additions & 2 deletions pytorch3d/transforms/rotation_conversions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -294,10 +294,11 @@ def matrix_to_euler_angles(matrix: torch.Tensor, convention: str) -> torch.Tenso
tait_bryan = i0 != i2
if tait_bryan:
central_angle = torch.asin(
matrix[..., i0, i2] * (-1.0 if i0 - i2 in [-1, 2] else 1.0)
torch.clamp(matrix[..., i0, i2], -1.0, 1.0)
* (-1.0 if i0 - i2 in [-1, 2] else 1.0)
)
else:
central_angle = torch.acos(matrix[..., i0, i0])
central_angle = torch.acos(torch.clamp(matrix[..., i0, i0], -1.0, 1.0))

o = (
_angle_from_tan(
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