Quaternions in PyTorch

Quanternions are handy mathematical tools for working with rotations and 3D transformations, and since v0.16.0 Kaolin Library bundles a module of low-level convenience operations with quaternions, targeting common use cases and exposing a plain PyTorch interface to all functions.

See kaolin.math.quat documentations for a full list of functions and a short python recipe in examples/recipes/quat/quat_transforms.py.