Remove inplace operations

eigenvivek · May 3, 2024 · bc2d869 · bc2d869
1 parent fdf0ce9
commit bc2d869
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/diffdrr/pose.py b/diffdrr/pose.py
@@ -160,9 +160,9 @@ def rotation_9d_to_matrix(rotation: torch.Tensor) -> torch.Tensor:
     m = rotation.view(-1, 3, 3)
     u, s, v = torch.svd(m)
     vt = v.transpose(1, 2)
-    vt[:, -1:] *= (
-        (u @ vt).det().view(-1, 1, 1)
-    )  # Scale by determinant to project onto SO(3)
+    # Scale by determinant to project onto SO(3)
+    det = (u @ vt).det().view(-1, 1, 1)
+    vt = torch.concat([vt[:, :2], det * vt[:, -1:]], dim=1)
     return u @ vt
 
 

diff --git a/notebooks/api/06_pose.ipynb b/notebooks/api/06_pose.ipynb
@@ -286,7 +286,9 @@
     "    m = rotation.view(-1, 3, 3)\n",
     "    u, s, v = torch.svd(m)\n",
     "    vt = v.transpose(1, 2)\n",
-    "    vt[:, -1:] *= (u @ vt).det().view(-1, 1, 1)  # Scale by determinant to project onto SO(3)\n",
+    "    # Scale by determinant to project onto SO(3)\n",
+    "    det = (u @ vt).det().view(-1, 1, 1)\n",
+    "    vt = torch.concat([vt[:, :2], det * vt[:, -1:]], dim=1)\n",
     "    return u @ vt\n",
     "\n",
     "\n",