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Published 20 hours ago • verified publisher icon facebookresearch

Edge case unit tests for 2D Lie groups

Open mhmukadam opened this issue 3 years ago • 1 comments

If I understand correctly, this is to test different corner cases (e.g., near zero tangent vectors). If so, we should also add similar tests for SE2 and SO2 (in a new PR). But agree that adding some small comments here would be useful.

Originally posted by @luisenp in https://github.com/facebookresearch/theseus/pull/71#discussion_r803052471

mhmukadam avatar Feb 18 '22 20:02 mhmukadam

Yes, my major concerns are the log_maps around pi. Near zero should not be a problem.

fantaosha avatar Feb 18 '22 21:02 fantaosha