Fix rotation_matrix for opposite float32 vectors #3011
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@brentyi It looks good to me. Thanks for improving my PR. |
Michael-Spleenlab
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Apr 26, 2024
…3011) * Fix rotation_matrix for opposite float32 vectors * Reformulate rotation_matrix() without division => drop unnecessary `eps` * Rename `rotation_matrix()` => `rotation_matrix_between()` --------- Co-authored-by: Brent Yi <yibrenth@gmail.com> Co-authored-by: Matias Turkulainen <30566358+maturk@users.noreply.github.com>
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When tensors a and b are float32, the condition c < -1 + 1e-8 will never be triggered because of round off tolerance being too small. Also I use a more principled implementation for computing the rotation matrix when a, b are opposite.
Test cases: