Geodesic distance is out-of-data with v0.4 parameterization

[eigenvivek]

The current implementation computes the distance between the last column of the transformation matrix, which represents the quantity Rt. Modify such that distance is only between translations t.

DiffDRR/diffdrr/metrics.py

Lines 146 to 153 in 528d2ea

	def forward(
	self,
	pose_1: RigidTransform,
	pose_2: RigidTransform,
	) -> Float[torch.Tensor, "b"]:
	t1 = pose_1.matrix[..., :3, 3]
	t2 = pose_2.matrix[..., :3, 3]
	return (t1 - t2).norm(dim=1)