From b84e3038239e8600826be1e95e7c4b78c2a2c46c Mon Sep 17 00:00:00 2001 From: yogurtsea Date: Sun, 13 Jan 2019 00:40:13 +0800 Subject: [PATCH] Change the sign of the partial derivative of the rotation of the neighboring control nodes from positive to negative --- include/cilantro/warp_field_estimation.hpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/include/cilantro/warp_field_estimation.hpp b/include/cilantro/warp_field_estimation.hpp index 570a48d..5dd7f92 100644 --- a/include/cilantro/warp_field_estimation.hpp +++ b/include/cilantro/warp_field_estimation.hpp @@ -2085,11 +2085,11 @@ namespace cilantro { inner_ind[nz_ind++] = s_offset + 4; values[nz_ind] = (ScalarT)0.0; inner_ind[nz_ind++] = s_offset + 5; - values[nz_ind] = d_sqrt_huber_loss * d_rot_da_n[0]; + values[nz_ind] = d_sqrt_huber_loss * -d_rot_da_n[0]; inner_ind[nz_ind++] = n_offset; - values[nz_ind] = d_sqrt_huber_loss * d_rot_db_n[0]; + values[nz_ind] = d_sqrt_huber_loss * -d_rot_db_n[0]; inner_ind[nz_ind++] = n_offset + 1; - values[nz_ind] = d_sqrt_huber_loss * d_rot_dc_n[0]; + values[nz_ind] = d_sqrt_huber_loss * -d_rot_dc_n[0]; inner_ind[nz_ind++] = n_offset + 2; values[nz_ind] = d_sqrt_huber_loss; inner_ind[nz_ind++] = n_offset + 3; @@ -2112,11 +2112,11 @@ namespace cilantro { inner_ind[nz_ind++] = s_offset + 4; values[nz_ind] = (ScalarT)0.0; inner_ind[nz_ind++] = s_offset + 5; - values[nz_ind] = d_sqrt_huber_loss * d_rot_da_n[1]; + values[nz_ind] = d_sqrt_huber_loss * -d_rot_da_n[1]; inner_ind[nz_ind++] = n_offset; - values[nz_ind] = d_sqrt_huber_loss * d_rot_db_n[1]; + values[nz_ind] = d_sqrt_huber_loss * -d_rot_db_n[1]; inner_ind[nz_ind++] = n_offset + 1; - values[nz_ind] = d_sqrt_huber_loss * d_rot_dc_n[1]; + values[nz_ind] = d_sqrt_huber_loss * -d_rot_dc_n[1]; inner_ind[nz_ind++] = n_offset + 2; values[nz_ind] = (ScalarT)0.0; inner_ind[nz_ind++] = n_offset + 3; @@ -2139,11 +2139,11 @@ namespace cilantro { inner_ind[nz_ind++] = s_offset + 4; values[nz_ind] = -d_sqrt_huber_loss; inner_ind[nz_ind++] = s_offset + 5; - values[nz_ind] = d_sqrt_huber_loss * d_rot_da_n[2]; + values[nz_ind] = d_sqrt_huber_loss * -d_rot_da_n[2]; inner_ind[nz_ind++] = n_offset; - values[nz_ind] = d_sqrt_huber_loss * d_rot_db_n[2]; + values[nz_ind] = d_sqrt_huber_loss * -d_rot_db_n[2]; inner_ind[nz_ind++] = n_offset + 1; - values[nz_ind] = d_sqrt_huber_loss * d_rot_dc_n[2]; + values[nz_ind] = d_sqrt_huber_loss * -d_rot_dc_n[2]; inner_ind[nz_ind++] = n_offset + 2; values[nz_ind] = (ScalarT)0.0; inner_ind[nz_ind++] = n_offset + 3;