b0d0053b1f1738640fc99fba642c83af42d10b22,geomstats/special_orthogonal_group.py,,closest_rotation_matrix,#Any#,8

Before Change

    mat_unitary_u, mat_diag_s, mat_unitary_v = np.linalg.svd(mat)
    rot_mat = np.dot(mat_unitary_u, mat_unitary_v)
    mat_diag_s = np.eye(3) * mat_diag_s

    if np.linalg.det(rot_mat) < 0:
        mat_diag_s[0, 0] = 1

After Change

    rot_mat = np.matmul(mat_unitary_u, mat_unitary_v)

    mask = np.where(np.linalg.det(rot_mat) < 0)
    diag_s[mask] = np.array([1, 1, -1])

    mat_diag_s = np.diagflat(diag_s)

    rot_mat[mask] = np.matmul(np.matmul(mat_unitary_u, mat_diag_s),

Instances