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Fix(argo2): Restore compatibility with modern kornia versions (>=0.7.0) #1722

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Fix(argo2): Restore compatibility with modern kornia versions (>=0.7.0) #1722

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73eecab
Fix(argo2): Restore compatibility with modern kornia versions (>=0.7.0)
Qu0rise Apr 15, 2025
89856a7
fix(argo2): drop TorchScript wrappers on kornia calls (>=0.7)
Qu0rise May 13, 2025
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10 changes: 3 additions & 7 deletions pcdet/datasets/argo2/argo2_utils/so3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
from math import pi as PI


@torch.jit.script
# ── kornia wrapper: TorchScript removed ────────────────────────────────
def quat_to_mat(quat_wxyz: Tensor) -> Tensor:
"""Convert scalar first quaternion to rotation matrix.

Expand All @@ -16,9 +16,7 @@ def quat_to_mat(quat_wxyz: Tensor) -> Tensor:
Returns:
(...,3,3) 3D rotation matrices.
"""
return C.quaternion_to_rotation_matrix(
quat_wxyz, order=C.QuaternionCoeffOrder.WXYZ
)
return C.quaternion_to_rotation_matrix(quat_wxyz)


# @torch.jit.script
Expand All @@ -31,9 +29,7 @@ def mat_to_quat(mat: Tensor) -> Tensor:
Returns:
(...,4) Scalar first quaternions.
"""
return C.rotation_matrix_to_quaternion(
mat, order=C.QuaternionCoeffOrder.WXYZ
)
return C.rotation_matrix_to_quaternion(mat)


@torch.jit.script
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