Update env

Author: eigenvivek

diffdrr/metrics.py

@@ -158,7 +158,7 @@ def forward(
         return pose_2.compose(pose_1.inverse()).get_se3_log().norm(dim=1)
 
 # %% ../notebooks/api/05_metrics.ipynb 18
-from .pose import so3_log_map
+from roma import rotmat_geodesic_distance
 
 
 class DoubleGeodesicSE3(torch.nn.Module):
@@ -175,9 +175,7 @@ def __init__(
         self.sdr = sdd / 2
         self.eps = eps
 
-        self.rot_geo = lambda r1, r2: self.sdr * so3_log_map(
-            r1.transpose(-1, -2) @ r2
-        ).norm(dim=-1)
+        self.rot_geo = lambda r1, r2: rotmat_geodesic_distance(r1, r2)
         self.xyz_geo = lambda t1, t2: (t1 - t2).norm(dim=-1)
 
     def forward(self, pose_1: RigidTransform, pose_2: RigidTransform):

environment.yml

@@ -20,3 +20,5 @@ dependencies:
   - tqdm
   - pyvista>=0.45.0
   - vtk>9.4.0
+  - pip:
+    - roma

notebooks/api/05_metrics.ipynb

@@ -431,7 +431,7 @@
    "outputs": [],
    "source": [
     "#| export\n",
-    "from diffdrr.pose import so3_log_map\n",
+    "from roma import rotmat_geodesic_distance\n",
     "\n",
     "\n",
     "class DoubleGeodesicSE3(torch.nn.Module):\n",
@@ -448,7 +448,7 @@
     "        self.sdr = sdd / 2\n",
     "        self.eps = eps\n",
     "\n",
-    "        self.rot_geo = lambda r1, r2: self.sdr * so3_log_map(r1.transpose(-1, -2) @ r2).norm(dim=-1)\n",
+    "        self.rot_geo = lambda r1, r2: rotmat_geodesic_distance(r1, r2)\n",
     "        self.xyz_geo = lambda t1, t2: (t1 - t2).norm(dim=-1)\n",
     "\n",
     "    def forward(self, pose_1: RigidTransform, pose_2: RigidTransform):\n",

settings.ini

@@ -38,4 +38,3 @@ clean_ids = True
 clear_all = False
 cell_number = True
 skip_procs = 
-