f1c0080b8439bcccad8c2576cf4f1b9d67d585ed,scipy/spatial/transform/rotation.py,Rotation,from_dcm,#Any#Any#,135

Before Change

        if is_single:
            return cls(quat[0])
        else:
            return cls(quat)

After Change

        decision_matrix[:, -1] = decision_matrix[:, :3].sum(axis=1)
        choices = decision_matrix.argmax(axis=1)

        quat = np.empty((num_rotations, 4))

        ind = np.nonzero(choices != 3)[0]
        i = choices[ind]
        j = (i + 1) % 3
        k = (j + 1) % 3

        quat[ind, i] = 1 - decision_matrix[ind, -1] + 2 * dcm[ind, i, i]
        quat[ind, j] = dcm[ind, j, i] + dcm[ind, i, j]
        quat[ind, k] = dcm[ind, k, i] + dcm[ind, i, k]
        quat[ind, 3] = dcm[ind, k, j] - dcm[ind, j, k]

        ind = np.nonzero(choices == 3)[0]
        quat[ind, 0] = dcm[ind, 2, 1] - dcm[ind, 1, 2]
        quat[ind, 1] = dcm[ind, 0, 2] - dcm[ind, 2, 0]
        quat[ind, 2] = dcm[ind, 1, 0] - dcm[ind, 0, 1]
        quat[ind, 3] = 1 + decision_matrix[ind, -1]

        if is_single:
            return cls(quat[0] / np.linalg.norm(quat[0]), normalized=True)
        else:
            return cls(quat / np.linalg.norm(quat, axis=1)[:, None],
                    normalized=True)

Instances