main.py 文件源码

def rotation_error(input, target):
    x1 = torch.norm(input, dim=1)
    x2 = torch.norm(target, dim=1)

    x1 = torch.div(input, torch.stack((x1, x1, x1, x1), dim=1))
    x2 = torch.div(target, torch.stack((x2, x2, x2, x2), dim=1))
    d = torch.abs(torch.sum(x1 * x2, dim=1))
    theta = 2 * torch.acos(d) * 180/math.pi
    theta = torch.mean(theta)

    return theta