Implement SE3.normalize() - Githubissues

facebookresearch / theseus

A library for differentiable nonlinear optimization

MIT License

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Implement SE3.normalize() #506

Closed fantaosha closed 1 year ago

fantaosha commented 1 year ago

Motivation and Context

Implement differentiable SO3.normalize() and SE3.normalize()

How Has This Been Tested

Types of changes

[ ] Docs change / refactoring / dependency upgrade
[ ] Bug fix (non-breaking change which fixes an issue)
[ ] New feature (non-breaking change which adds functionality)
[ ] Breaking change (fix or feature that would cause existing functionality to change)

Checklist

[ ] My code follows the code style of this project.
[ ] My change requires a change to the documentation.
[ ] I have updated the documentation accordingly.
[ ] I have read the CONTRIBUTING document.
[ ] I have completed my CLA (see CONTRIBUTING)
[ ] I have added tests to cover my changes.
[ ] All new and existing tests passed.