tomodrgn.lie_tools#

Tools for dealing with SO(3) group and algebra Adapted from pimdh/lie-vae All functions are pytorch-ified

Functions

`SO3_to_quaternions`	Map batch of SO(3) matrices to quaternions.
`SO3_to_s2s2`	Map batch of SO(3) matrices to s2s2 representation as first two basis vectors, concatenated as Bx6
`expmap`
`logsumexp`	Numerically stable logsumexp.
`map_to_lie_algebra`	Map a point in R^N to the tangent space at the identity, i.e. to the Lie Algebra.
`quaternions_to_SO3`	Normalizes q and maps to group matrix.
`random_SO3`	Generate random rotations as SO3 matrices
`random_quaternions`	Generate random rotations as quaternions
`s2s1rodrigues`
`s2s2_to_SO3`	Normalize 2 3-vectors.
`so3_entropy`
`so3_entropy_old`