pgo fix

d92aa0a1 · zachteed · a1580fe0 · d92aa0a1
Commit d92aa0a1 authored Mar 22, 2021 by zachteed
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examples/pgo/main.py examples/pgo/main.py +1 -1

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--- a/examples/pgo/main.py
+++ b/examples/pgo/main.py
@@ -66,7 +66,7 @@ def write_g2o(pose_graph, fn):

 def reshaping_fn(dE, b=1.5):
    """ 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)
    return err.sum()