Euler fix when single angle + README

naver · Apr 23, 2024 · 8f6a2ed · 8f6a2ed
1 parent 9f648f9
commit 8f6a2ed
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diff --git a/README.md b/README.md
@@ -25,6 +25,7 @@ rotvec = torch.randn(batch_shape + (3,))
 q = roma.rotvec_to_unitquat(rotvec)
 R = roma.unitquat_to_rotmat(q)
 Rbis = roma.rotvec_to_rotmat(rotvec)
+euler_angles = roma.unitquat_to_euler('xyz', q, as_tensor=True, degrees=True)
 
 # Regression of a rotation from an arbitrary input:
 # Special Procrustes orthonormalization of a 3x3 matrix

diff --git a/roma/euler.py b/roma/euler.py
@@ -63,7 +63,10 @@ def euler_to_unitquat(convention: str, angles, degrees=False, normalize=True, dt
             raise ValueError("Invalid convention (expected format: 'xyz', 'zxz', 'XYZ', etc.).")
         q = roma.rotvec_to_unitquat(rotvec)
         unitquats.append(q)
-    return roma.quat_composition(unitquats, normalize=normalize)
+    if len(unitquats) == 1:
+        return unitquats[0]
+    else:
+        return roma.quat_composition(unitquats, normalize=normalize)
 
 def euler_to_rotvec(convention: str, angles, degrees=False, dtype=None, device=None):
     """