Merge pull request #55 from kaseris/fix/transforms

Clamp the values in the range [-1, 1] to avoid errors
kaseris · Dec 14, 2023 · 396c11b · 396c11b
2 parents 28ccd3e + ebda93b
commit 396c11b
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/skelcast/data/utils.py b/src/skelcast/data/utils.py
@@ -78,7 +78,9 @@ def xyz_to_expmap(xyz_seq, parents):
  cross_vecs = np.cross(norm_parent_bones, norm_bones)
  norm_cross_vecs = _norm_bvecs(cross_vecs)
  # dot products give us rotation angle
- angles = np.arccos(np.sum(norm_bones * norm_parent_bones, axis=-1))
+ cos_values = np.sum(norm_bones * norm_parent_bones, axis=-1)
+ clamped_cos_values = np.clip(cos_values, -1.0, 1.0)
+ angles = np.arccos(clamped_cos_values)
  log_map = norm_cross_vecs * angles[..., None]
  exp_seq[:, child] = log_map