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Fixed dtype error in se3.py that came up in unit tests #158

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merged 2 commits into from
Apr 14, 2022
Merged

Fixed dtype error in se3.py that came up in unit tests #158

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222b47a
fixed dtype error that appears in manifold_gaussian unit tests
joeaortiz Apr 13, 2022
af0791b
scalar tensor rather than full
joeaortiz Apr 14, 2022
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14 changes: 12 additions & 2 deletions theseus/geometry/se3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -285,14 +285,24 @@ def exp_map(

jac[:, 3:, 3:] = jac[:, :3, :3]

minus_one_by_twelve = torch.tensor(
-1 / 12.0,
dtype=sine_by_theta.dtype,
device=sine_by_theta.device,
)
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d_one_minus_cosine_by_theta2 = torch.where(
near_zero,
-1 / 12.0,
minus_one_by_twelve,
(sine_by_theta - 2 * one_minus_cosine_by_theta2) / theta2_nz,
)
minus_one_by_sixty = torch.tensor(
-1 / 60.0,
dtype=one_minus_cosine_by_theta2.dtype,
device=one_minus_cosine_by_theta2.device,
)
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d_theta_minus_sine_by_theta3 = torch.where(
near_zero,
-1 / 60.0,
minus_one_by_sixty,
(one_minus_cosine_by_theta2 - 3 * theta_minus_sine_by_theta3_t)
/ theta2_nz,
)
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