Function angle_diff_vec3

modeling/pi3/models/pi3_loss.py:36–37

(v1: torch.Tensor, v2: torch.Tensor, eps: float = 1e-12)

        return torch.where(err < beta, 0.5 * err.square() / beta, err - 0.5 * beta)

def angle_diff_vec3(v1: torch.Tensor, v2: torch.Tensor, eps: float = 1e-12):
    return torch.atan2(torch.cross(v1, v2, dim=-1).norm(dim=-1) + eps, (v1 * v2).sum(dim=-1))

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# PointLoss: Scale-invariant Local Pointmap