Changed w_sqrt to handle 0 weights for nondiff and diff

utiasASRL · Jan 26, 2024 · 59a8a07 · 59a8a07
1 parent dc4ccab
commit 59a8a07
Showing 1 changed file with 1 addition and 4 deletions.
diff --git a/dICP/ICP.py b/dICP/ICP.py
@@ -177,10 +177,7 @@ def dICP(self, source, target, T_init, weight=None, trim_dist=None, loss_fn=None
             # Compute weighted Jacobian and error, this avoids having to form a weight matrix
             # which can be memory expensive
             # We add and subtract 1e-5 to avoid sqrt(0) nan gradients
-            if self.diff:
-                w_sqrt = torch.sqrt(w + 1.0e-10) - 1.0e-5
-            else:
-                w_sqrt = torch.sqrt(w)
+            w_sqrt = torch.sqrt(w)
             err_w = w_sqrt.unsqueeze(-1) * err
             J_w = w_sqrt.unsqueeze(-1) * J