Unverified Commit 34463e65 authored by wawatt's avatar wawatt Committed by GitHub
Browse files

Update losses.py

parent d5767170
......@@ -6,7 +6,6 @@ CLASS_NAME = ['cl0', 'cl1', 'cl2','cl3','cl4']
def skew_symmetric(axag_unit):
"""
Create the skew symmetric matrix for the input vector
为输入向量创建倾斜对称矩阵
v = (v_1, v_2, v_3)
v_ss = | 0 -v_3 v_2 |
| v_3 0 -v_1 |
......@@ -33,7 +32,6 @@ def skew_symmetric(axag_unit):
def exponential_map(axag, EPS=1e-2):
"""
Create exponential map for axis-angle representation using Rodrigues' formula
使用Rodrigues的公式为轴角表示创建指数图
axag = theta * v_hat
exp(theta * v_hat) = I + sin(theta)[v_hat]_x + (1 - cos(theta))([v_hat]_x)^2
For small angle values, use Taylor expansion
......
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