From 9a03f9058c15bd3cfe96af696d1d301ffc15567c Mon Sep 17 00:00:00 2001
From: Daniil <lisus.daniil@gmail.com>
Date: Tue, 30 Jan 2024 17:49:20 -0500
Subject: [PATCH] Small bug in sqrt weight computation

---
 dICP/ICP.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dICP/ICP.py b/dICP/ICP.py
index 8354dff..b591649 100644
--- a/dICP/ICP.py
+++ b/dICP/ICP.py
@@ -177,7 +177,7 @@ def dICP(self, source, target, T_init, weight=None, trim_dist=None, loss_fn=None
             # Compute weighted Jacobian and error, this avoids having to form a weight matrix
             # which can be memory expensive
             # We add and subtract 1e-5 to avoid sqrt(0) nan gradients
-            w_sqrt = torch.sqrt(w)
+            w_sqrt = torch.sqrt(w + 1.0e-10) - 1.0e-5
             err_w = w_sqrt.unsqueeze(-1) * err
             J_w = w_sqrt.unsqueeze(-1) * J