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Implement SE3.normalize() #506

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merged 12 commits into from
May 2, 2023
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a small refactor of the code
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fantaosha committed May 2, 2023
commit 990a6973636e516a1a612acd2da77c5f84a91dac
2 changes: 1 addition & 1 deletion theseus/labs/lie/functional/so3_impl.py
Original file line number Diff line number Diff line change
Expand Up @@ -1029,7 +1029,7 @@ def _skew_symm(matrix: torch.Tensor) -> torch.Tensor:
u_term = torch.einsum("n...ij, nj->n...ij", u_term, s)
u_term = u_term @ vt

v_term: torch.Tensor = (F * _skew_symm(vt @ grad_v)) @ v.transpose(1, 2)
v_term: torch.Tensor = (F * _skew_symm(vt @ grad_v)) @ vt
v_term = torch.einsum("ni, n...ij->n...ij", s, v_term)
v_term = u @ v_term

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