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PGO dataset.py: Rotation/translation swapped in relative pose noise #481

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suddhu opened this issue Mar 14, 2023 · 0 comments
Open

PGO dataset.py: Rotation/translation swapped in relative pose noise #481

suddhu opened this issue Mar 14, 2023 · 0 comments

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@suddhu
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suddhu commented Mar 14, 2023

🐛 Bug

Rotation and translation noise are swapped in the PGO noise addition for pose_graph/dataset.py. Link to the relevant location. The se3 tangent vector should be [noise_trans, noise_rot] but here it is [noise_rot, noise_trans]. Submitting a simple pull request.
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PGO: Rotation/translation swapped in relative pose noise suddhu/theseus
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@suddhu