[Bug] angle_axis_to_rotation_matrix can not be backward

❓ Questions and Help

I want to use the angle_axis_to_rotation_matrix as a function in the pytorch pipline, the demo code is as follows:

import torch
import torchgeometry as tgm

x = torch.zeros(1, 3, requires_grad=True)  # Nx3
input = tgm.deg2rad(x)
output = tgm.angle_axis_to_rotation_matrix(input)  # Nx4x4
output.mean().backward()
print(x.grad)

then the result is as follows:

tensor([[nan, nan, nan]])

[cbames]

Sure thing, I’ll toss it on the todo list.

[edgarriba]

@Zju-George worth checking/suggesting in https://github.com/kornia/kornia/pull/926