37d6a53cad2695ee387cfa6ffd0e88f96e8ff699,geomstats/special_orthogonal_group.py,,closest_rotation_matrix,#Any#,8

Before Change

    :param mat: 3x3 matrix
    :returns rot_mat: 3x3 rotation matrix.
    
    if mat.ndim == 2:
        mat = np.expand_dims(mat, axis=0)
    assert mat.ndim == 3

    n_mats, _, _ = mat.shape
    assert mat.shape == (n_mats,) + (3,) * 2

    mat_unitary_u, diag_s, mat_unitary_v = np.linalg.svd(mat)
    rot_mat = np.matmul(mat_unitary_u, mat_unitary_v)

After Change

    mat = vectorization_utils.expand_dims(mat, to_dim=3)

    _, mat_dim_1, mat_dim_2 = mat.shape
    assert mat_dim_1 == mat_dim_2 == 3

    mat_unitary_u, diag_s, mat_unitary_v = np.linalg.svd(mat)
    rot_mat = np.matmul(mat_unitary_u, mat_unitary_v)

Instances