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PGO: Rotation/translation swapped in relative pose noise #482

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PGO: Rotation/translation swapped in relative pose noise #482

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ffcabb4
PGO: Rotation/translation swapped in relative pose noise
suddhu Mar 14, 2023
310a876
swapped rotation/translation noise in pose_graph_synthetic
suddhu Mar 14, 2023
aa3ad7c
Swapping rot/trans in gt_relative_pose, and adding optimizer damping
suddhu Apr 10, 2023
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PGO: Rotation/translation swapped in relative pose noise
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@suddhu
suddhu committed Mar 14, 2023
commit ffcabb42bd50791d4c1c02a5f9730f822367e386
12 changes: 6 additions & 6 deletions theseus/utils/examples/pose_graph/dataset.py
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Original file line number Diff line number Diff line change
Expand Up @@ -282,10 +282,10 @@ def generate_synthetic_3D(
noise_relative_pose = th.SE3.exp_map(
torch.cat(
[
rotation_noise
* (2 * torch.rand(dataset_size, 3, dtype=dtype) - 1),
translation_noise
* (2.0 * torch.rand(dataset_size, 3, dtype=dtype) - 1),
rotation_noise
* (2.0 * torch.rand(dataset_size, 3, dtype=dtype) - 1),
],
dim=1,
)
Expand Down Expand Up @@ -322,9 +322,9 @@ def generate_synthetic_3D(
noise_relative_pose = th.SE3.exp_map(
torch.cat(
[
rotation_noise
* (2 * torch.rand(1, 3, dtype=dtype) - 1),
translation_noise
* (2 * torch.rand(1, 3, dtype=dtype) - 1),
rotation_noise
* (2.0 * torch.rand(1, 3, dtype=dtype) - 1),
],
dim=1,
Expand Down Expand Up @@ -354,8 +354,8 @@ def generate_synthetic_3D(
noise_pose = th.SE3.exp_map(
torch.cat(
[
rotation_noise * (2 * torch.rand(1, 3, dtype=dtype) - 1),
translation_noise * (2.0 * torch.rand(1, 3, dtype=dtype) - 1),
translation_noise * (2 * torch.rand(1, 3, dtype=dtype) - 1),
rotation_noise * (2.0 * torch.rand(1, 3, dtype=dtype) - 1),
],
dim=1,
)
Expand Down