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Commit d92aa0a1 authored by zachteed's avatar zachteed
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pgo fix

parent a1580fe0
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examples/pgo/main.py
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...@@ -66,7 +66,7 @@ def write_g2o(pose_graph, fn): ...@@ -66,7 +66,7 @@ def write_g2o(pose_graph, fn):
def reshaping_fn(dE, b=1.5): def reshaping_fn(dE, b=1.5):
""" Reshaping function from "Intrinsic consensus on SO(3), Tron et al.""" """ Reshaping function from "Intrinsic consensus on SO(3), Tron et al."""
ang = dE.log.norm(dim=-1) ang = dE.log().norm(dim=-1)
err = 1/b - (1/b + ang) * torch.exp(-b*ang) err = 1/b - (1/b + ang) * torch.exp(-b*ang)
return err.sum() return err.sum()
......
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