From 4dda5a2d7a77027ee80f0410950faaaad3b29311 Mon Sep 17 00:00:00 2001
From: eigenvivek <vivekg@mit.edu>
Date: Tue, 5 Dec 2023 17:08:55 -0500
Subject: [PATCH] Undo pytorch3d transpose convention

---
 diffpose/calibration.py            | 8 +++++---
 notebooks/api/02_calibration.ipynb | 8 +++++---
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/diffpose/calibration.py b/diffpose/calibration.py
index 2b9cc63..66a1c9e 100644
--- a/diffpose/calibration.py
+++ b/diffpose/calibration.py
@@ -91,8 +91,8 @@ def convert(
         transform = torch.concat([*transform], axis=-1)
         matrix = se3_exp_map(transform)
         transform = RigidTransform(
-            R=matrix[..., :3, :3].transpose(-1, -2),
-            t=matrix[..., 3, :3],
+            R=matrix[..., :3, :3],
+            t=matrix[..., :3, 3],
             device=matrix.device,
             dtype=matrix.dtype,
         )
@@ -111,7 +111,9 @@ def convert(
         return transform
     elif output_parameterization == "se3_log_map":
         se3_log = transform.get_se3_log()
-        return se3_log[..., :3], se3_log[..., 3:]
+        log_R_vee = se3_log[..., :3]
+        log_t_vee = se3_log[..., 3:]
+        return log_R_vee, log_t_vee
     else:
         return (
             transform.get_rotation(output_parameterization, output_convention),
diff --git a/notebooks/api/02_calibration.ipynb b/notebooks/api/02_calibration.ipynb
index a8d2934..6ad9380 100644
--- a/notebooks/api/02_calibration.ipynb
+++ b/notebooks/api/02_calibration.ipynb
@@ -194,8 +194,8 @@
     "        transform = torch.concat([*transform], axis=-1)\n",
     "        matrix = se3_exp_map(transform)\n",
     "        transform = RigidTransform(\n",
-    "            R=matrix[..., :3, :3].transpose(-1, -2),\n",
-    "            t=matrix[..., 3, :3],\n",
+    "            R=matrix[..., :3, :3],\n",
+    "            t=matrix[..., :3, 3],\n",
     "            device=matrix.device,\n",
     "            dtype=matrix.dtype,\n",
     "        )\n",
@@ -214,7 +214,9 @@
     "        return transform\n",
     "    elif output_parameterization == \"se3_log_map\":\n",
     "        se3_log = transform.get_se3_log()\n",
-    "        return se3_log[..., :3], se3_log[..., 3:]\n",
+    "        log_R_vee = se3_log[..., :3]\n",
+    "        log_t_vee = se3_log[..., 3:]\n",
+    "        return log_R_vee, log_t_vee\n",
     "    else:\n",
     "        return (\n",
     "            transform.get_rotation(output_parameterization, output_convention),\n",