From 8349c49227e666e3588607037ceb6930eba57a73 Mon Sep 17 00:00:00 2001
From: Jackson Cannon <8286907+cannon@users.noreply.github.com>
Date: Tue, 6 Dec 2022 12:04:35 -0800
Subject: [PATCH] Axis angle norm fix

---
 manopth/rodrigues_layer.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/manopth/rodrigues_layer.py b/manopth/rodrigues_layer.py
index bb5ac1e..0ea2e7d 100644
--- a/manopth/rodrigues_layer.py
+++ b/manopth/rodrigues_layer.py
@@ -42,7 +42,7 @@ def quat2mat(quat):
 
 def batch_rodrigues(axisang):
     #axisang N x 3
-    axisang_norm = torch.norm(axisang + 1e-8, p=2, dim=1)
+    axisang_norm = torch.norm(axisang, p=2, dim=1) + 1e-8
     angle = torch.unsqueeze(axisang_norm, -1)
     axisang_normalized = torch.div(axisang, angle)
     angle = angle * 0.5