docstr: Tests whether the determinants of 3x3 rotation matrices produced
  by `so3_exp_map` are (almost) equal to 1.
docstr_tok: ["Tests","whether","the","determinants","of","3x3","rotation","matrices","produced","by","`","so3_exp_map","`","are","(","almost",")","equal","to","1","."]
code: def test_determinant(self):
      """
      Tests whether the determinants of 3x3 rotation matrices produced
      by `so3_exp_map` are (almost) equal to 1.
      """
      log_rot = TestSO3.init_log_rot(batch_size=30)
      Rs = so3_exp_map(log_rot)
      dets = torch.det(Rs)
      self.assertClose(dets, torch.ones_like(dets), atol=1e-4)
  
imports: import math
  import unittest
  from distutils.version import LooseVersion
  import numpy
  import torch
  from pytorch3d.transforms.so3 import hat, so3_exp_map, so3_log_map, so3_relative_angle, so3_rotation_angle
  from .common_testing import TestCaseMixin
label_desc: Use image node_id 4 for calling the TestSO3 obj's underlying member method code with example usage: obj.test_determinant() without return types