RotateAxisAngle: R is not a valid rotation matrix

[fmocking]

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🐛 Bugs / Unexpected behaviors

When using RotateAxisAngle function, I'm getting 'R is not a valid rotation matrix' error on first call. Any subsequent calls does not raise this warning. I'm using the latest version (0.7), I tested this behavior an various python version (3.8, 3.9, 3.10), PyTorch version is: 1.11.0

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Instructions To Reproduce the Issue:

from pytorch3d.transforms import RotateAxisAngle, Rotate, random_rotations
import torch
rot = RotateAxisAngle(angle=torch.randn(1, device='cuda')*360, degrees=True, axis='Z', device='cuda')
/python3.8/site-packages/pytorch3d/transforms/transform3d.py:802: UserWarning: R is not a valid rotation matrix
  warnings.warn(msg)