I have a misaligned point cloud and rotation matrix and I want to use backprop to tune the rotation matrix in 2d plane.
The problem is in the
forward all I can get from the rotation matrix is index in the 2d plane which is duplicated like.
>>> x [500.99, 500.5, 411.2, 411.02, 411]
But the desired output for this case should be
While the ground truth maybe
[505, 501, 460, 420]
I can’t compare the float
x and ground truth using
mse directly because the dimension is not equal.
x and ground truth are index of a 512 dimension vector but the gradient disappear as soon as I use
x.long() so I can’t use them as index either.
How to properly calculate loss of this problem?