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Fixed small angle bugs #5

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Fixed small angle bugs #5

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12 changes: 6 additions & 6 deletions lie_algebra.py
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Original file line number Diff line number Diff line change
Expand Up @@ -148,7 +148,7 @@ def so3_exp(phi):

if 0 < small_angles_num < batch_size:
I_small = I.expand(small_angles_num, 3,3)
phi_w = so3_wedge(phi[small_angles_indices])
phi_w = so3_wedge(phi[small_angles_indices].view(-1, 3))
small_exp = I + phi_w
R[small_angles_indices] = small_exp

Expand Down Expand Up @@ -201,7 +201,7 @@ def so3_inv_left_jacobian(phi):

if 0 < small_angles_num < batch_size:
I_small = I.expand(small_angles_num, 3,3)
small_invJ = I_small - 0.5*so3_wedge(phi[small_angles_indices])
small_invJ = I_small - 0.5*so3_wedge(phi[small_angles_indices].view(-1, 3))
invJ[small_angles_indices] = small_invJ

return invJ
Expand Down Expand Up @@ -244,7 +244,7 @@ def so3_left_jacobian(phi):

if 0 < small_angles_num < batch_size:
I_small = I.expand(small_angles_num, 3,3)
small_J = I_small + 0.5*so3_wedge(phi[small_angles_indices])
small_J = I_small + 0.5*so3_wedge(phi[small_angles_indices].view(-1, 3))
J[small_angles_indices] = small_J

return J
Expand Down Expand Up @@ -420,7 +420,7 @@ def se3_exp(xi):

if 0 < small_angles_num < batch_size:
I_small = I.expand(small_angles_num, 4,4)
xi_w = se3_wedge(xi[small_angles_indices])
xi_w = se3_wedge(xi[small_angles_indices].view(-1, 6))
small_exp = I + xi_w
T[small_angles_indices] = small_exp

Expand Down Expand Up @@ -519,7 +519,7 @@ def se3_left_jacobian(xi):
I = xi.new(6, 6).zero_()
I[0,0] = I[1,1] = I[2,2] = I[3,3] = I[4,4] = I[5,5] = 1.0
I = I.expand(small_angles_num, 6,6)
small_J = I + 0.5*se3_curly_wedge(xi[small_angles_indices])
small_J = I + 0.5*se3_curly_wedge(xi[small_angles_indices].view(-1, 6))
J[small_angles_indices] = small_J

return J
Expand Down Expand Up @@ -559,7 +559,7 @@ def se3_inv_left_jacobian(xi):
I = xi.new(6, 6).zero_()
I[0,0] = I[1,1] = I[2,2] = I[3,3] = I[4,4] = I[5,5] = 1.0
I = I.expand(small_angles_num, 6,6)
small_inv_J = I - 0.5*se3_curly_wedge(xi[small_angles_indices])
small_inv_J = I - 0.5*se3_curly_wedge(xi[small_angles_indices].view(-1, 6))
inv_J[small_angles_indices] = small_inv_J


Expand Down