Disparity between Eq.(18) in the paper and code implementation

[cailile]

Dear authors, I notice there may be some disparities between Eq.(18) and implementation:

1. In robust_loss.py, Ln.92, the robust regression loss is implemented as:

Compared to what is defined in Eq.(18) of the paper:

there is an extra power term **2 on the cs term.

2. The paper mentioned that c is chosen to be 0.03, but in train_roma_outdoor.py, Ln.220, the value passed to c is 1e-4:

3. The first minus sign in Eq.(18) (indicated by the red circle above) should be removed.

Could you kindly help to clarify? Thanks!