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Fix Jacobian #34

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Fix Jacobian #34

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a89fd64
Update se3_inplace_builder.cu
yon100 Oct 20, 2023
5489744
Update se3_builder.cu
yon100 Oct 20, 2023
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10 changes: 5 additions & 5 deletions lietorch/extras/se3_builder.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -158,8 +158,8 @@ __global__ void se3_build_forward_kernel(
Jz[0] = 0.0;
Jz[1] = 0.0;
Jz[2] = -d2;
Jz[3] = d * Y1;
Jz[4] = -d * X1;
Jz[3] = -d2 * Y1;
Jz[4] = d2 * X1;
Jz[5] = 0.0;

for (int ii=0; ii<6; ii++) {
Expand Down Expand Up @@ -318,8 +318,8 @@ __global__ void se3_build_backward_kernel(
Jz[0] = 0.0;
Jz[1] = 0.0;
Jz[2] = -d2;
Jz[3] = d * Y1;
Jz[4] = -d * X1;
Jz[3] = -d2 * Y1;
Jz[4] = d2 * X1;
Jz[5] = 0.0;

for (int ii=0; ii<6; ii++) {
Expand Down Expand Up @@ -431,4 +431,4 @@ std::vector<torch::Tensor> se3_build_backward_cuda(
radius);

return {attention_grad, targets_grad, weights_grad};
}
}
6 changes: 3 additions & 3 deletions lietorch/extras/se3_inplace_builder.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -52,8 +52,8 @@ pinhole_jacobians(const float p[3], const float fx, const float fy, float Ju[6],
Jz[0] = 0.0;
Jz[1] = 0.0;
Jz[2] = -d2;
Jz[3] = d * Y1;
Jz[4] = -d * X1;
Jz[3] = -d2 * Y1;
Jz[4] = d2 * X1;
Jz[5] = 0.0;
}

Expand Down Expand Up @@ -678,4 +678,4 @@ std::vector<torch::Tensor> dense_se3_backward_cuda(
radius);

return {embedding_grad, targets_grad, weights_grad};
}
}