Add option to return Euler angles in degrees (#365)

* Add option to return euler angles in degrees

* Bump version

Author: eigenvivek

diffdrr/__init__.py

@@ -1 +1 @@
-__version__ = "0.4.8"
+__version__ = "0.4.9"

diffdrr/pose.py

@@ -54,12 +54,14 @@ def compose(self, T):
         matrix = torch.einsum("bij, bjk -> bik", T.matrix, self.matrix)
         return RigidTransform(matrix)
 
-    def convert(self, parameterization, convention=None):
+    def convert(self, parameterization, convention=None, degrees=False):
         translation = -self.inverse().translation
         if parameterization == "axis_angle":
             rotation = matrix_to_axis_angle(self.matrix[..., :3, :3])
         elif parameterization == "euler_angles":
             rotation = matrix_to_euler_angles(self.matrix[..., :3, :3], convention)
+            if degrees:
+                rotation = rotation / torch.pi * 180
         elif parameterization == "matrix":
             rotation = self.matrix[..., :3, :3]
         elif parameterization == "quaternion":
@@ -119,7 +121,7 @@ def random_rigid_transform(batch_size=1):
 ]
 
 # %% ../notebooks/api/06_pose.ipynb 11
-def convert(*args, parameterization, convention=None) -> RigidTransform:
+def convert(*args, parameterization, convention=None, degrees=False) -> RigidTransform:
     if parameterization == "euler_angles" and convention is None:
         raise ValueError(
             "convention for Euler angles must be specified as a 3 letter combination of [X, Y, Z]"
@@ -132,6 +134,8 @@ def convert(*args, parameterization, convention=None) -> RigidTransform:
         matrix = make_matrix(rotmat, camera_center)
     elif parameterization == "euler_angles":
         rotation, translation = args
+        if degrees:
+            rotation = rotation / 180 * torch.pi
         rotmat = euler_angles_to_matrix(rotation, convention)
         camera_center = torch.einsum("bij, bj -> bi", rotmat, translation)
         matrix = make_matrix(rotmat, camera_center)

notebooks/api/06_pose.ipynb

@@ -138,12 +138,14 @@
     "        matrix = torch.einsum(\"bij, bjk -> bik\", T.matrix, self.matrix)\n",
     "        return RigidTransform(matrix)\n",
     "\n",
-    "    def convert(self, parameterization, convention=None):\n",
+    "    def convert(self, parameterization, convention=None, degrees=False):\n",
     "        translation = -self.inverse().translation\n",
     "        if parameterization == \"axis_angle\":\n",
     "            rotation = matrix_to_axis_angle(self.matrix[..., :3, :3])\n",
     "        elif parameterization == \"euler_angles\":\n",
     "            rotation = matrix_to_euler_angles(self.matrix[..., :3, :3], convention)\n",
+    "            if degrees:\n",
+    "                rotation = rotation / torch.pi * 180\n",
     "        elif parameterization == \"matrix\":\n",
     "            rotation = self.matrix[..., :3, :3]\n",
     "        elif parameterization == \"quaternion\":\n",
@@ -243,7 +245,7 @@
    "outputs": [],
    "source": [
     "#| export\n",
-    "def convert(*args, parameterization, convention=None) -> RigidTransform:\n",
+    "def convert(*args, parameterization, convention=None, degrees=False) -> RigidTransform:\n",
     "    if parameterization == \"euler_angles\" and convention is None:\n",
     "        raise ValueError(\n",
     "            \"convention for Euler angles must be specified as a 3 letter combination of [X, Y, Z]\"\n",
@@ -256,6 +258,8 @@
     "        matrix = make_matrix(rotmat, camera_center)\n",
     "    elif parameterization == \"euler_angles\":\n",
     "        rotation, translation = args\n",
+    "        if degrees:\n",
+    "            rotation = rotation / 180 * torch.pi\n",
     "        rotmat = euler_angles_to_matrix(rotation, convention)\n",
     "        camera_center = torch.einsum(\"bij, bj -> bi\", rotmat, translation)\n",
     "        matrix = make_matrix(rotmat, camera_center)\n",

settings.ini

@@ -1,7 +1,7 @@
 [DEFAULT]
 repo = DiffDRR
 lib_name = diffdrr
-version = 0.4.8
+version = 0.4.9
 min_python = 3.8
 license = mit
 black_formatting = True