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# All rights reserved.
#
# This source code is licensed under the license found in the
# LICENSE file in the root directory of this source tree.
#
import torch
import numpy as np
# PyTorch-backed implementations
def qmul(q, r):
"""
Multiply quaternion(s) q with quaternion(s) r.
Expects two equally-sized tensors of shape (*, 4), where * denotes any number of dimensions.
Returns q*r as a tensor of shape (*, 4).
"""
assert q.shape[-1] == 4
assert r.shape[-1] == 4
original_shape = q.shape
# Compute outer product
terms = torch.bmm(r.view(-1, 4, 1), q.view(-1, 1, 4))
w = terms[:, 0, 0] - terms[:, 1, 1] - terms[:, 2, 2] - terms[:, 3, 3]
x = terms[:, 0, 1] + terms[:, 1, 0] - terms[:, 2, 3] + terms[:, 3, 2]
y = terms[:, 0, 2] + terms[:, 1, 3] + terms[:, 2, 0] - terms[:, 3, 1]
z = terms[:, 0, 3] - terms[:, 1, 2] + terms[:, 2, 1] + terms[:, 3, 0]
return torch.stack((w, x, y, z), dim=1).view(original_shape)
def qrot(q, v):
"""
Rotate vector(s) v about the rotation described by quaternion(s) q.
Expects a tensor of shape (*, 4) for q and a tensor of shape (*, 3) for v,
where * denotes any number of dimensions.
Returns a tensor of shape (*, 3).
"""
assert q.shape[-1] == 4
assert v.shape[-1] == 3
assert q.shape[:-1] == v.shape[:-1]
original_shape = list(v.shape)
q = q.view(-1, 4)
v = v.view(-1, 3)
qvec = q[:, 1:]
uv = torch.cross(qvec, v, dim=1)
uuv = torch.cross(qvec, uv, dim=1)
return (v + 2 * (q[:, :1] * uv + uuv)).view(original_shape)
def qeuler(q, order, epsilon=0):
"""
Convert quaternion(s) q to Euler angles.
Expects a tensor of shape (*, 4), where * denotes any number of dimensions.
Returns a tensor of shape (*, 3).
"""
assert q.shape[-1] == 4
original_shape = list(q.shape)
original_shape[-1] = 3
q = q.view(-1, 4)
q0 = q[:, 0]
q1 = q[:, 1]
q2 = q[:, 2]
q3 = q[:, 3]
if order == "xyz":
x = torch.atan2(2 * (q0 * q1 - q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2))
y = torch.asin(torch.clamp(2 * (q1 * q3 + q0 * q2), -1 + epsilon, 1 - epsilon))
z = torch.atan2(2 * (q0 * q3 - q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3))
elif order == "yzx":
x = torch.atan2(2 * (q0 * q1 - q2 * q3), 1 - 2 * (q1 * q1 + q3 * q3))
y = torch.atan2(2 * (q0 * q2 - q1 * q3), 1 - 2 * (q2 * q2 + q3 * q3))
z = torch.asin(torch.clamp(2 * (q1 * q2 + q0 * q3), -1 + epsilon, 1 - epsilon))
elif order == "zxy":
x = torch.asin(torch.clamp(2 * (q0 * q1 + q2 * q3), -1 + epsilon, 1 - epsilon))
y = torch.atan2(2 * (q0 * q2 - q1 * q3), 1 - 2 * (q1 * q1 + q2 * q2))
z = torch.atan2(2 * (q0 * q3 - q1 * q2), 1 - 2 * (q1 * q1 + q3 * q3))
elif order == "xzy":
x = torch.atan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q3 * q3))
y = torch.atan2(2 * (q0 * q2 + q1 * q3), 1 - 2 * (q2 * q2 + q3 * q3))
z = torch.asin(torch.clamp(2 * (q0 * q3 - q1 * q2), -1 + epsilon, 1 - epsilon))
elif order == "yxz":
x = torch.asin(torch.clamp(2 * (q0 * q1 - q2 * q3), -1 + epsilon, 1 - epsilon))
y = torch.atan2(2 * (q1 * q3 + q0 * q2), 1 - 2 * (q1 * q1 + q2 * q2))
z = torch.atan2(2 * (q1 * q2 + q0 * q3), 1 - 2 * (q1 * q1 + q3 * q3))
elif order == "zyx":
x = torch.atan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2))
y = torch.asin(torch.clamp(2 * (q0 * q2 - q1 * q3), -1 + epsilon, 1 - epsilon))
z = torch.atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3))
else:
raise
return torch.stack((x, y, z), dim=1).view(original_shape)
# Numpy-backed implementations
def qmul_np(q, r):
q = torch.from_numpy(q).contiguous()
r = torch.from_numpy(r).contiguous()
return qmul(q, r).numpy()
def qrot_np(q, v):
q = torch.from_numpy(q).contiguous()
v = torch.from_numpy(v).contiguous()
return qrot(q, v).numpy()
def qeuler_np(q, order, epsilon=0, use_gpu=False):
if use_gpu:
q = torch.from_numpy(q).cuda()
return qeuler(q, order, epsilon).cpu().numpy()
else:
q = torch.from_numpy(q).contiguous()
return qeuler(q, order, epsilon).numpy()
def qfix(q):
"""
Enforce quaternion continuity across the time dimension by selecting
the representation (q or -q) with minimal distance (or, equivalently, maximal dot product)
between two consecutive frames.
Expects a tensor of shape (L, J, 4), where L is the sequence length and J is the number of joints.
Returns a tensor of the same shape.
"""
assert len(q.shape) == 3
assert q.shape[-1] == 4
result = q.copy()
dot_products = np.sum(q[1:] * q[:-1], axis=2)
mask = dot_products < 0
mask = (np.cumsum(mask, axis=0) % 2).astype(bool)
result[1:][mask] *= -1
return result
def expmap_to_quaternion(e):
"""
Convert axis-angle rotations (aka exponential maps) to quaternions.
Stable formula from "Practical Parameterization of Rotations Using the Exponential Map".
Expects a tensor of shape (*, 3), where * denotes any number of dimensions.
Returns a tensor of shape (*, 4).
"""
assert e.shape[-1] == 3
original_shape = list(e.shape)
original_shape[-1] = 4
e = e.reshape(-1, 3)
theta = np.linalg.norm(e, axis=1).reshape(-1, 1)
w = np.cos(0.5 * theta).reshape(-1, 1)
xyz = 0.5 * np.sinc(0.5 * theta / np.pi) * e
return np.concatenate((w, xyz), axis=1).reshape(original_shape)
def euler_to_quaternion(e, order):
"""
Convert Euler angles to quaternions.
"""
assert e.shape[-1] == 3
original_shape = list(e.shape)
original_shape[-1] = 4
e = e.reshape(-1, 3)
x = e[:, 0]
y = e[:, 1]
z = e[:, 2]
rx = np.stack(
(np.cos(x / 2), np.sin(x / 2), np.zeros_like(x), np.zeros_like(x)), axis=1
)
ry = np.stack(
(np.cos(y / 2), np.zeros_like(y), np.sin(y / 2), np.zeros_like(y)), axis=1
)
rz = np.stack(
(np.cos(z / 2), np.zeros_like(z), np.zeros_like(z), np.sin(z / 2)), axis=1
)
result = None
for coord in order:
if coord == "x":
r = rx
elif coord == "y":
r = ry
elif coord == "z":
r = rz
else:
raise
if result is None:
result = r
else:
result = qmul_np(result, r)
# Reverse antipodal representation to have a non-negative "w"
if order in ["xyz", "yzx", "zxy"]:
result *= -1
return result.reshape(original_shape)
def qinv(q):
# expectes q in (w,x,y,z) format
w = q[:, 0:1]
v = q[:, 1:]
inv = torch.cat([w, -v], dim=1)
return inv
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