From 47e7df4c35d293e9ac3e9bc89d2573adbdcd7bb8 Mon Sep 17 00:00:00 2001
From: atticuszz <1831768457@qq.com>
Date: Mon, 17 Jun 2024 16:37:44 +0800
Subject: [PATCH] chore: run pre-commits

---
 .gitmodules                                      | 3 +++
 .idea/AB_GICP.iml                                | 2 +-
 .idea/vcs.xml                                    | 2 +-
 src/pose_estimation/{gemoetry.py => geometry.py} | 7 ++++---
 4 files changed, 9 insertions(+), 5 deletions(-)
 rename src/pose_estimation/{gemoetry.py => geometry.py} (99%)

diff --git a/.gitmodules b/.gitmodules
index 7292aa2..e6b3a14 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -5,3 +5,6 @@
 	path = thirdparty/torchimize
 	url = git@github.com:SupaVision/torchimize.git
 
+[submodule "thirdparty/pytorch3d"]
+	path = thirdparty/pytorch3d
+	url = git@github.com:facebookresearch/pytorch3d.git
diff --git a/.idea/AB_GICP.iml b/.idea/AB_GICP.iml
index 4537c88..1ded0e5 100644
--- a/.idea/AB_GICP.iml
+++ b/.idea/AB_GICP.iml
@@ -15,4 +15,4 @@
     <option name="myDocStringFormat" value="NumPy" />
     <option name="renderExternalDocumentation" value="true" />
   </component>
-</module>
+</module>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
index 6ff93ea..512c2bb 100644
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@@ -2,7 +2,7 @@
 <project version="4">
   <component name="VcsDirectoryMappings">
     <mapping directory="" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/thirdparty/AB_GICP_c" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/thirdparty/pytorch3d" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/thirdparty/small_gicp" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/thirdparty/torchimize" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/../Gaussian-SLAM" vcs="Git" />
diff --git a/src/pose_estimation/gemoetry.py b/src/pose_estimation/geometry.py
similarity index 99%
rename from src/pose_estimation/gemoetry.py
rename to src/pose_estimation/geometry.py
index e91fff1..133208e 100644
--- a/src/pose_estimation/gemoetry.py
+++ b/src/pose_estimation/geometry.py
@@ -1,8 +1,9 @@
 import kornia
+import kornia.geometry.conversions as KG
 import torch
 from pykeops.torch import LazyTensor
 from torch import Tensor
-import kornia.geometry.conversions as KG
+
 from src.pose_estimation import DEVICE
 
 
@@ -48,7 +49,7 @@ def project_depth(depth: Tensor, pose: Tensor, intrinsics: Tensor) -> Tensor:
     X = (grid_x - intrinsics[0, 2]) * Z / intrinsics[0, 0]
     Y = (grid_y - intrinsics[1, 2]) * Z / intrinsics[1, 1]
 
-    # Create homogenous coordinates
+    # Create homogeneous coordinates
     ones = torch.ones_like(Z)
     pcd_camera = torch.stack((X, Y, Z, ones), dim=-1)
 
@@ -206,7 +207,7 @@ def rotation_matrix_to_quaternion(rotation_matrix: Tensor) -> Tensor:
     return KG.rotation_matrix_to_quaternion(rotation_matrix)
 
 
-class KnnSearch:
+class KnnSearchKeOp3:
     def __init__(self, dataset: torch.Tensor):
         self.dataset = dataset
         # Convert dataset to a KeOps LazyTensor