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Fix a bug when the device of manolayer is cpu and use_pca=False #26

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Fix a bug when the device of manolayer is cpu and use_pca=False #26

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7 changes: 4 additions & 3 deletions manopth/rotproj.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,14 +8,15 @@ def batch_rotprojs(batches_rotmats):
for rot_idx, rotmat in enumerate(batch_rotmats):
# GPU implementation of svd is VERY slow
# ~ 2 10^-3 per hit vs 5 10^-5 on cpu
U, S, V = rotmat.cpu().svd()
rotmat = torch.matmul(U, V.transpose(0, 1))
_device = rotmat.device
U, S, V_T = torch.linalg.svd(rotmat.cpu())
rotmat = torch.matmul(U, V_T)
orth_det = rotmat.det()
# Remove reflection
if orth_det < 0:
rotmat[:, 2] = -1 * rotmat[:, 2]

rotmat = rotmat.cuda()
rotmat = rotmat.to(_device)
proj_batch_rotmats.append(rotmat)
proj_rotmats.append(torch.stack(proj_batch_rotmats))
return torch.stack(proj_rotmats)