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Function align

track4world/utils/alignment.py:99–215  ·  view source on GitHub ↗

Solves the alignment problem: find 'a' that minimizes weighted L1 distance. If trunc is provided, it solves a Robust L1 problem using an exhaustive search over critical points (extrema) in the derivative of the piecewise linear loss.

(
    x: torch.Tensor, 
    y: torch.Tensor, 
    w: torch.Tensor, 
    trunc: Optional[Union[float, torch.Tensor]] = None, 
    eps: float = 1e-7
)

Source from the content-addressed store, hash-verified

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Callers 4

align_depth_scaleFunction · 0.85
align_points_scaleFunction · 0.85
align_points_z_shiftFunction · 0.85
align_points_xyz_shiftFunction · 0.85

Calls 4

_pad_infFunction · 0.85
_pad_cumsumFunction · 0.85
_compute_residualFunction · 0.85
scatter_minFunction · 0.85

Tested by

no test coverage detected